Index Terms—sliding mode control, uncertainty and disturbance estimation, flexible joint. Abstract—This paper proposes sliding mode control based on uncertainty and disturbance estimator (UDE), for trajectory tracking control of flexible joint robotic system. UDE is used to estimate plant uncertainty and disturbances. The controller does not requires knowledge of plant uncertainty and external ...

The dynamic stability and equilibrium conditions of a parachute are studied using a six degree of freedom dynamic model that includes apparent inertia effects. Existing parachute dynamic models are discussed and the selection of a relevant model is shown. The chosen dynamic model that incorporates apparent inertia is summarized and used for analysis. The moments on the parachute system caused b...

This paper advocates disturbance observer based control (DOBC) for uncertain nonlinear systems. Within this framework, a nonlinear controller is designed based on the nominal model in the absence of disturbance and uncertainty where the main design specifications are to stabilize the system and achieve good tracking performance. Then a nonlinear disturbance observer is designed to not only esti...

Disturbance attenuation for a class of nonlinear systems under unknown disturbances is considered in this paper. Based on the Disturbance-Observer-Based Control (DOBC) concept, two design schemes are proposed for external disturbances generated by exogenous systems where the disturbances could be unbounded. One design scheme is obtained by augmenting the estimation of the disturbance into a sta...

The synchronization of the Hindmarsh-Rose neuron system with external disturbance is investigated via sliding mode control. Based on the Lyapunov stability theory, a single sliding mode controller is derived even when the response Hindmarsh-Rose neuron system with external disturbance. The numerical simulation is presented to verify the effectiveness of the proposed control scheme.

1 New Results on Output-Feedback Variable Structure Model-Reference Adaptive Control: Design and Stability Analysis Liu Hsu, Fernando Lizarralde and Aldayr D. de Araújo Abstract The Variable Structure Model-Reference Adaptive Control (VS-MRAC) redesign and stability analysis, presented earlier for the case of plants with relative degree n 2, is generalized to the case of arbitrary n 1. This pap...