A generalized design method for learning-based disturbance observer
This article presents a generalized disturbance observer (DOB) design framework that is
applicable to both multi-input multi-output (MIMO) and/or nonminimum phase systems. The …
applicable to both multi-input multi-output (MIMO) and/or nonminimum phase systems. The …
Combined design of robust controller and disturbance observer in a fixed-order H∞ control framework
E Daş - Mechatronics, 2022 - Elsevier
The disturbance observer (DOB) and H∞ based robust control methods are widely used in
feedback control applications due to their disturbance rejection capability and robustness …
feedback control applications due to their disturbance rejection capability and robustness …
An optimization-based iterative learning control design method for UAV's trajectory tracking
This paper presents an iterative learning control (ILC) design method to improve the
unmanned aerial vehicle's (UAV's) tracking performance. ILC is a feedforward control …
unmanned aerial vehicle's (UAV's) tracking performance. ILC is a feedforward control …
A scalable model-based learning algorithm with application to UAVs
Unmanned aerial vehicles (UAVs) play essential roles in many areas including search and
rescue, monitoring, and exploration. As such, fast and accurate trajectory tracking is crucial …
rescue, monitoring, and exploration. As such, fast and accurate trajectory tracking is crucial …
A hybrid disturbance observer for delivery drone's oscillation suppression
This paper proposes a new hybrid disturbance observer (DOB) to help suppress disturbance
to the control systems. The proposed hybrid DOB consists of three main parts:(1) an actual …
to the control systems. The proposed hybrid DOB consists of three main parts:(1) an actual …
A two-step optimization-based iterative learning control for quadrotor unmanned aerial vehicles
This paper presents a two-step optimization-based design method for iterative learning
control and applies it onto the quadrotor unmanned aerial vehicles (UAVs) trajectory …
control and applies it onto the quadrotor unmanned aerial vehicles (UAVs) trajectory …
Full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV
with flexible modes. This control system is working in all flight modes without any control …
with flexible modes. This control system is working in all flight modes without any control …
Leader-following almost output consensus for discrete-time heterogeneous multi-agent systems in the presence of external disturbances
In this paper, we consider the problem of leader-following almost output consensus for
discrete-time multi-agent systems with heterogeneous follower agents. Conditions on agent …
discrete-time multi-agent systems with heterogeneous follower agents. Conditions on agent …
A preliminary study on a physical model oriented learning algorithm with application to uavs
This paper provides a preliminary study for an efficient learning algorithm by reasoning the
error from first principle physics to generate learning signals in near real time. Motivated by …
error from first principle physics to generate learning signals in near real time. Motivated by …
Improving Disturbance Estimation and Suppression via Learning among Systems with Mismatched Dynamics
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors
over multiple iterations by using information from past iterations. The disturbance observer …
over multiple iterations by using information from past iterations. The disturbance observer …