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Disturbance Observers: Methods and Applications. II. Applications

  • nonlinear systems
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Abstract

This work is the second part of a survey devoted to disturbance observers that appeared in the theory and practice of automatic control back in the mid-1960s. The first part of the survey was devoted to theoretical results. This part of the survey is devoted to practical application of disturbance observers. We consider such applications as control of ships and underwater vehicles, control of aircraft and robotic manipulators, suppression of narrow-band vibrational oscillations, estimation and suppression of disturbances in electrical systems, control of cars and their component units, and a number of other applications.

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Notes

  1. In our opinion, \({\hat{v}}_{i\text{eq}}\) is not exactly the equivalent control as defined in [22, 23], since in contrast to the above works, in (2.3) filtration occurs inside a closed control loop and is not external in relation to it.

  2. Lockheed Martin X-33 was designed as an unmanned suborbital space plane to showcase the technologies developed in the 1990s as part of the Spacecraft Launch Initiative funded by the US government. X-33 was a technology demonstration for the VentureStar orbiting spacecraft, which was planned to be a commercial reusable launch vehicle of the next generation.

  3. In fact, this is a variation of the well-known random search algorithms with learning [32].

  4. Note that the notation system of the international standard for flight dynamics ISO 1151 [34] used in [33, 30] and other foreign publications differs from the Russian GOST 20058-80 [35].

  5. In [44], standard equations of quadrocopter dynamics are used with unspoken assumptions regarding the angular motion, in particular the smallness of the roll and pitch angles as well as angular velocities relative to the axes of the associated coordinate system.

  6. TF W1(s) of the form (4.2) differs from that given in [1, Section 3, Eq. (3.2)] in the presence of the multiplier \({\Phi }_{r}^{y}(s)/(1-{\Phi }_{r}^{y}(s))\) in it, which in [1] is represented by the sequential TF of the controller R(s).

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Acknowledgements

The results of Sections 1–7 were obtained with the financial support of the Russian Foundation for Basic Research, project no. 18-38-20037. Results shown in Section 8 were obtained at the Institute of Mathematics and Mechanics of the Russian Academy of Sciences within the framework of the state assignment of the Ministry of Education and Science of the Russian Federation, reg. no. NIOKTR AAAA-A19-119120290136-9.

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  1. Institute for Problems in Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia

    B. R. Andrievsky & I. B. Furtat

  2. St. Petersburg State University, St. Petersburg, Russia

    B. R. Andrievsky

  3. Baltic State Technical University, St. Petersburg, Russia

    B. R. Andrievsky

  4. ITMO University, St. Petersburg, Russia

    I. B. Furtat

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Andrievsky, B., Furtat, I. Disturbance Observers: Methods and Applications. II. Applications. Autom Remote Control 81, 1775–1818 (2020). https://doi.org/10.1134/S0005117920100021

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