Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2011.17.12.1188

Design of Nonlinear Disturbance Observer Guaranteeing Global Stability and Robust Stability Condition  

Back, Ju-Hoon (Kwangwoon University)
Shim, Hyung-Bo (Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.17, no.12, 2011 , pp. 1188-1193 More about this Journal
Abstract
A nonlinear version of disturbance observer is presented. The system under consideration is an uncertain single input single output nonlinear system and the nominal plant is also a nonlinear system. Compared to the previous implementation given in [8], the proposed scheme does not require an auxiliary variable anymore, thus it has a simpler and more intuitive structure. A robust stability condition for the overall closed-loop system is also provided.
Keywords
disturbance observer; robust control; nonlinear system;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
연도 인용수 순위
1 K. Ohnishi, "New development of servo technology in mechatronics," Trans. of Japanese Society of Electrical Engineers (in Japanese), vol. 107-D, no. 1, pp. 83-86, 1987.
2 T. Umeno and Y. Hori, "Robust speed control of DC servomotors using modern two degrees-of-freedom controller design," IEEE Transactions on Industrial Electronics, vol. 38, no. 5, pp. 363-368, 1991.   DOI
3 T. Umeno and Y. Hori, "Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators," IEEE Transactions on Industrial Electronics, vol. 40, no. 5, pp. 473-485, 1993.   DOI
4 K. S. Eom, I. H. Suh, and W. K. Chung, "Disturbance observer based path tracking control of robot manipulator considering torque saturation," Mechatronics, vol. 11, no. 3, pp. 325-343, 2001.   DOI
5 S. Katsura, K. Irie, and K. Ohishi, "Wideband force control by position-acceleration integrated disturbance observer," IEEE Transactions on Industrial Electronics, vol. 55, no. 4, pp. 1699-1706, 2008.   DOI   ScienceOn
6 J. R. Ryoo, T. Y. Doh, and M. J. Chung, "Robust disturbance observer for the track-following control system of an optical disk drive," Control Engineering Practice, vol. 12, no. 5, pp. 577-585, 2004.   DOI
7 H. Shim and Y. Joo, "State space analysis of disturbance observer and a robust stability condition," Proc. Conference on Decision and Control, New Orleans, USA, pp. 2193-2198, 2007.
8 J. Back and H. Shim, "Adding robustness to nominal output feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer," Automatica, vol. 44, no. 10, pp. 2528-2537, 2008.   DOI
9 J. Back and H, Shim, "An inner-loop controller guaranteeing robust transient performance for uncertain MIMO nonlinear systems," IEEE Transactions on Automatic Control, vol. 54, no. 7, pp. 1601-1607, 2009.   DOI
10 H. K. Khalil, Nonlinear Systems, 2nd Ed., Prentice-Hall, NY, 1996.
11 H. Y. Park, Y. H. Jo, and K. B. Park, "The ultimate bound of discrete sliding mode control system with short sampling period for DC motor system," Journal of Institute of Control, Robotics, and Systems (in Korean), vol. 16, no. 3, pp. 245-248, 2010.   과학기술학회마을   DOI
12 H. H. Choi, "An LMI Approach to Nonlinear Sliding Surface Design," Journal of Institute of Control, Robotics, and Systems (in Korean), vol. 16, no. 12, pp. 1197-1200, 2010.   과학기술학회마을   DOI