The problem of speed control of a permanent magnet synchronous motor (PMSM) with unknown parameters and unknown external load torque is formulated and solved as an adaptive control problem that meets the requirements of asymptotic command following with simultaneous asymptotic disturbance attenuation. The key point is to identify the system without knowledge, estimation or measurement of the un...

In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in t...

This paper is concerned with the problem of  H observer design for a class of time-delay nonlinear systems with external disturbance. The purpose of this problem is to design a  H observers such that, for the addressed nonlinearities as well as all admissible external disturbance in state equation, the observation process remains globally exponentially stable, independently of the time delay....

A robust tracking control design of robot systems including motor dynamics with parameter perturbation and external disturbance is proposed in this study via adaptive fuzzy cancellation technique. A minimax controller equipped with a fuzzy-based scheme is used to enhance the tracking performance in spite of system uncertainties and external disturbance. The design procedure is divided into thre...

To deploy Micro Aerial Vehicles (MAVs) in real-world applications, there is a need for online methods to cope with uncertainties localization and external disturbances. In this article, we propose set of novel real-time embedded Nonlinear Model Predictive Control (NMPC) Moving Horizon Estimation (NMHE) modules MAV based disturbance rejection. The NMPC NMHE are on the dynamic model MAV, thus, av...

Community response to external drivers such climate and disturbance can lead to fluctuations in community composition, or to directional change. Temporal dynamics can be influenced by a combination of drivers operating at multiple spatial scales, including external landscape scale drivers, local abiotic conditions, and local species pools. We hypothesized that spatial variation in these factors...

Abstract: In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is desi...