Estimation of unknown sinusoidal disturbances using two-step nonlinear observer

Xinyu Wen; Lei Guo; Yumin Zhang

Estimation of unknown sinusoidal disturbances using two-step nonlinear observer

Xinyu Wen
, Lei Guo^*
, Yumin Zhang

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Southeast University, Nanjing
Taiyuan University of Science and Technology
Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

A disturbance estimation approach is presented for a class of multiple-input-multiple-output (MIMO) nonlinear robotic systems subject to sinusoidal disturbances with unknown frequencies. Different from most present works that adopt adaptive technique to identify the unknown parameters of disturbances, a new methodology is provided to estimate the unknown sinusoidal disturbances via construction of a generalized two-step disturbance observer. Simulations on a two-link robotic manipulator demonstrate the advantages of the proposed scheme.

Original language	English
Title of host publication	Proceedings of the 30th Chinese Control Conference, CCC 2011
Pages	6181-6186
Number of pages	6
State	Published - 2011
Event	30th Chinese Control Conference, CCC 2011 - Yantai, China Duration: 22 Jul 2011 → 24 Jul 2011

Publication series

Name	Proceedings of the 30th Chinese Control Conference, CCC 2011

Conference

Conference	30th Chinese Control Conference, CCC 2011
Country/Territory	China
City	Yantai
Period	22/07/11 → 24/07/11

Keywords

Disturbances observer
Nonlinear systems
Robotic systems
Sinusoidal disturbance

Cite this

@inproceedings{7165fefcd8004b53819510c9567790f8,

title = "Estimation of unknown sinusoidal disturbances using two-step nonlinear observer",

abstract = "A disturbance estimation approach is presented for a class of multiple-input-multiple-output (MIMO) nonlinear robotic systems subject to sinusoidal disturbances with unknown frequencies. Different from most present works that adopt adaptive technique to identify the unknown parameters of disturbances, a new methodology is provided to estimate the unknown sinusoidal disturbances via construction of a generalized two-step disturbance observer. Simulations on a two-link robotic manipulator demonstrate the advantages of the proposed scheme.",

keywords = "Disturbances observer, Nonlinear systems, Robotic systems, Sinusoidal disturbance",

author = "Xinyu Wen and Lei Guo and Yumin Zhang",

year = "2011",

language = "英语",

isbn = "9789881725592",

series = "Proceedings of the 30th Chinese Control Conference, CCC 2011",

pages = "6181--6186",

booktitle = "Proceedings of the 30th Chinese Control Conference, CCC 2011",

note = "30th Chinese Control Conference, CCC 2011 ; Conference date: 22-07-2011 Through 24-07-2011",

}

Estimation of unknown sinusoidal disturbances using two-step nonlinear observer. / Wen, Xinyu; Guo, Lei; Zhang, Yumin.
Proceedings of the 30th Chinese Control Conference, CCC 2011. 2011. p. 6181-6186 6000787 (Proceedings of the 30th Chinese Control Conference, CCC 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Estimation of unknown sinusoidal disturbances using two-step nonlinear observer

AU - Wen, Xinyu

AU - Guo, Lei

AU - Zhang, Yumin

PY - 2011

Y1 - 2011

N2 - A disturbance estimation approach is presented for a class of multiple-input-multiple-output (MIMO) nonlinear robotic systems subject to sinusoidal disturbances with unknown frequencies. Different from most present works that adopt adaptive technique to identify the unknown parameters of disturbances, a new methodology is provided to estimate the unknown sinusoidal disturbances via construction of a generalized two-step disturbance observer. Simulations on a two-link robotic manipulator demonstrate the advantages of the proposed scheme.

AB - A disturbance estimation approach is presented for a class of multiple-input-multiple-output (MIMO) nonlinear robotic systems subject to sinusoidal disturbances with unknown frequencies. Different from most present works that adopt adaptive technique to identify the unknown parameters of disturbances, a new methodology is provided to estimate the unknown sinusoidal disturbances via construction of a generalized two-step disturbance observer. Simulations on a two-link robotic manipulator demonstrate the advantages of the proposed scheme.

KW - Disturbances observer

KW - Nonlinear systems

KW - Robotic systems

KW - Sinusoidal disturbance

UR - https://www.scopus.com/pages/publications/80053065056

M3 - 会议稿件

AN - SCOPUS:80053065056

SN - 9789881725592

T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011

SP - 6181

EP - 6186

BT - Proceedings of the 30th Chinese Control Conference, CCC 2011

T2 - 30th Chinese Control Conference, CCC 2011

Y2 - 22 July 2011 through 24 July 2011

ER -

Estimation of unknown sinusoidal disturbances using two-step nonlinear observer

Abstract

Publication series

Conference

Keywords

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