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The purpose of the paper is to propose a new control scheme in active front steering (AFS) for vehicle stability using disturbance observer method. In the paper, the ideal yaw rate can be calculated on the linear two-degrees-of-freedom vehicle model. In addition, the actual sideslip angle can also be estimated by using a state observer. Based on this, two kinds of baseline AFS controllers are proposed...
This paper develops a sliding mode control (SMC) approach for a class of uncertain nonlinear systems with unmatched uncertainties/disturbances. The newly proposed method is based on a novel fixed-time convergent sliding mode disturbance observer which can estimate the unmatched disturbance in a fixed time (time whose upper estimate is independent of the initial conditions). By designing a novel sliding...
In this paper, an integral sliding mode based tracking control (ISMTC) scheme is proposed for a marine surface vehicle (MSV) in order to achieve accurate tracking performance. Salient features of the ISMTC scheme are as follows: (1) The integral sliding mode (ISM) technique is employed to realize accurate tracking performance, whereby a finite-time unknown observer is designed and integrated into...
For a class of nonlinear continuous systems, this paper proposes a sliding mode control with unidirectional auxiliary surfaces (UAS-SMC) based on a double power reaching law and a disturbance observer (DO). Firstly, according to the nonlinear continuous systems, the switching surfaces and the controller based on the proposed law and DO are designed to weaken the chattering phenomenon caused by disturbance...
This paper presents a novel approach for designing a composite controller that finite time simultaneously stabilizes two single input nonlinear Port-Controlled Hamiltonian (PCH) systems under disturbances. Firstly, using a single output feedback, two PCH systems are combined to generate an augmented PCH system based on the Hamiltonian structure properties. Then, a finite time disturbance observer...
We are concerned with the control issue for the joint angular of a one-DOF link manipulator in this paper by the active disturbance rejection control (ADRC) method. A novel extended state observer (ESO) is proposed to improve the convergence of the observer by adding and modifying a nonlinear region in the fal function. Taking the moment of the joint as a control input, the ADRC strategy is proposed...
In this paper, we will investigate the problem of continuous finite-time disturbance observer (CFTDO) design and its application in the finite-time control (FTC) for systems subject to non-vanishing disturbances. First of all, based on the homogeneous domination approach and state saturation technique, a CFTDO design approach is proposed such that the disturbance can be precisely estimated in finite...
The objective of this paper is to extend the relaxed conditions on the existence of the backstepping controllers and observers obtained in a recent literature to the case of parabolic Partial Differential Equations (PDEs) with the same diffusion. Moreover, an observer-based output feedback controller is designed for the considered systems with the new conditions. Then, the corresponding exponential...
In this study, we consider anti-windup design as one of the approaches for the boundary control problem of a flexible manipulator subject to input saturation and input disturbances. The dynamics of the system are represented by partial differential equation (PDE). One of the key contributions of this study is that using singular perturbation approach the PDE model is divided into two simpler subsystems...
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