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- W2967320502 abstract "This study proposes a finite-time dynamic surface control (DSC) combined with a nonlinear differentiator disturbance observer for nonlinear systems, in which dynamics are partially known. The nonlinear differentiator disturbance observer, virtual stabilizing controllers, and final controller were designed based on finite-time convergent theorem via the recursive steps in conventional DSC system. In conclusion, the study results show that the filtered output error due to the first-order filter in a conventional DSC, which is the source of controller design complexity and stability, can be bypassed; this is because stability is provided by a finite-time Lyapunov function comprised of newly defined variables instead of the tracking error variables used in conventional DSCs. Thus, the controller design procedure and stability analysis can be more intuitive than those of a conventional DSC. Another important study result is the design of a nonlinear differentiator disturbance observer for nonlinear systems to estimate uncertainty in finite-time. The study shows that very competitive results can be achieved using the proposed method, as shown by the simulation results for an articulated manipulator system." @default.
- W2967320502 created "2019-08-22" @default.
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- W2967320502 date "2019-08-31" @default.
- W2967320502 modified "2023-09-25" @default.
- W2967320502 title "Design of a Finite-Time Dynamic Surface Controller Using a Nonlinear Differentiator Disturbance Observer for Nonlinear Dynamic Systems" @default.
- W2967320502 doi "https://doi.org/10.5302/j.icros.2019.19.0083" @default.
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