A Structure-Inspired Disturbance Observer for Finite-Dimensional Mechanical Systems
| dc.contributor.author | Chen, Ying-Chun | en |
| dc.contributor.author | Woolsey, Craig A. | en |
| dc.date.accessioned | 2024-11-06T15:07:40Z | en |
| dc.date.available | 2024-11-06T15:07:40Z | en |
| dc.date.issued | 2024-03 | en |
| dc.description.abstract | This article describes a disturbance observer (DO) design for systems whose dynamics are piecewise differentiable and satisfy certain structural conditions. Provided a Lipschitz continuity condition holds with a sufficiently small Lipschitz constant—a condition that is implied by “sufficiently slow” dynamics—the observer ensures local ultimate boundedness of the disturbance estimate error, which converges exponentially to a positively invariant set whose size can be made arbitrarily small. This observer is appropriate for finite-dimensional mechanical systems. We demonstrate the design in two examples—a tutorial example of a nonlinear mass-damper-spring system and a practical example of an experimental underwater vehicle. | en |
| dc.description.sponsorship | Office of Naval Research (Grant Number: N00014-18-1-2627) | en |
| dc.description.version | Accepted version | en |
| dc.format.extent | pp. 440-455 | en |
| dc.format.mimetype | application/pdf | en |
| dc.identifier.doi | https://doi.org/10.1109/TCST.2023.3327510 | en |
| dc.identifier.issue | 2 | en |
| dc.identifier.orcid | Woolsey, Craig A. [0000-0003-3483-7135] | en |
| dc.identifier.uri | https://hdl.handle.net/10919/121571 | en |
| dc.identifier.volume | 32 | en |
| dc.language.iso | en | en |
| dc.publisher | IEEE | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.title | A Structure-Inspired Disturbance Observer for Finite-Dimensional Mechanical Systems | en |
| dc.title.serial | IEEE Transactions on Control Systems Technology | en |
| dc.type | Article - Refereed | en |
| dc.type.dcmitype | Text | en |
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