This paper presents a novel functional observer for motion control systems to provide higher accuracy and less noise in comparison to existing observers. The observer uses the input current and position information along with the nominal parameters of the plant and can observe the velocity, acceleration and disturbance information of the system. The novelty of the observer is based on its funct...

A new type of composite control scheme of disturbance-observer-based control and terminal sliding mode control is proposed for uncertain structural systems. The disturbance are supposed to include two parts. One is generated by an exogenous system, which can represent the harmonic signals with modeling perturbations in structural system. The other part is external excitation in H2-norm context....

This paper addresses the design of observer-controllers that provide “robust” output regulation. By this we mean that regulation is achieved without knowledge of how the disturbances actually enter the system. While it would seem that this problem has already been settled by the internal model principle (IMP), it turns out that in its original formulation, the IMP is most directly applicable to...

Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This paper presents a novel nonlinear bilateral control scheme using the concept of disturbance observer based control for nonlinear teleoperation systems. Lumping the effects of dynamic uncertainties and exte...

Abstract. In the resonance ratio control, the estimation speed of the disturbance observer should have been much faster than the resonance frequency of the controlled system. However, too fast disturbance observer causes implementation problem. In this paper, we give the optimal speed of the disturbance estimation and propose a novel technique, slow resonance ratio control, which enables us to ...

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DO’s, which are designed or analyzed b...

Power-level control is a crucial technique for the safe, stable and efficient operation of modular high temperature gas-cooled nuclear reactors (MHTGRs), which have strong inherent safety features and high outlet temperatures. The current power-level controllers of the MHTGRs need measurements of both the nuclear power and the helium temperature, which cannot provide satisfactory control perfor...