The problem of attitude stabilization of a fighter aircraft is investigated in this paper. The practical aspects of a real physical system like existence of external disturbance with unknown upper bound and actuator saturation are considered in the process of controller design of this aircraft. In order to design a robust autopilot in the presence of the actuator saturation, the Composite Nonli...

In this paper, a force estimation method is proposed for force control without force sensor. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer due to internal torque, the disturbance obser...

Environmental conditions, including anthropogenic disturbance, can significantly alter host and parasite communities. Yet, our current knowledge is based mainly on endoparasites, while ectoparasites remain little studied. We studied the indirect effects of anthropogenic disturbance (human population density) and climate (temperature, precipitation and elevation) on abundance of highly host-spec...

The generalized projective synchronization GPS of chaotic systems with uncertain parameter noise and external disturbance is discussed. Based on the adaptive technique, a response system is constructed, and a novel adaptive controller is designed to guarantee the GPS between the driveresponse systems, and to eliminate the effect of external disturbance and parameters noise on GPS. The conclusio...

This paper presents a method for functional projective H∞ synchronization problem of chaotic systems with external disturbance. Based on Lyapunov theory and linear matrix inequality (LMI) formulation, the novel feedback controller is established to not only guarantee stable synchronization of both drive and response systems but also reduce the effect of external disturbance to an H∞ norm constr...

Abstract A sliding mode control (SMC) with improved exponent reaching law based on disturbance observer (DOB) is proposed for the robot control, to solve the problem of robot system which is vulnerability to external interferences and has some uncertainties. The disturbance observer (DOB) would detect and compensate external disturbances and uncertainties in the robot system, so that the moveme...

In this paper, we consider performance output tracking for a boundary controlled one-dimensional wave equation with possibly unknown internal nonlinear uncertainty and external disturbance. We first show that the open-loop system is well-posed and then propose a disturbance estimator. It is shown that the disturbance estimator can estimate successfully the total disturbance that consists of int...

Abstract: PFC (Predictive Functional Control) is a simple but very effective SISO (Single-Input SingleOutput) predictive controller. A disturbance estimator is proposed based on PFC algorithm in case of nonmeasurable disturbances. The algorithm considers both external disturbance signal and internal, structural disturbances (process/model mismatch). Estimated disturbance feed-forward control ca...

This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...