Print Email Facebook Twitter The non-smoothness problem in disturbance observer design Title The non-smoothness problem in disturbance observer design: A set-invariance-based adaptive fuzzy control method Author Lv, Maolong (TU Delft Team Bart De Schutter) Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Liu, Zongcheng (Air Force Engineering University) Date 2019 Abstract This work removes the critical assumptions of continuity, differentiability, and state-independent boundedness, which are typical of compounded disturbances in disturbance observer-based adaptive designs. Crucial in removing such assumptions are a novel observer-based design with state-dependent gain in place of a constant one, and a novel set-invariance design. The designs use different a priori knowledge of the disturbance, but they can both handle state-dependent (e.g., possibly unbounded) disturbances, as well as non-smooth (e.g., non-differentiable and jump discontinuous) disturbances. The tracking error is proven to be as small as desired by appropriately choosing design parameters. For the second design, which uses the least a priori knowledge of the disturbance, stability is proven by enhancing Lyapunov theory with an invariant-set mechanism, so as to construct an appropriate compact set resulting an invariant set for the closed-loop trajectories. Subject Disturbance observerfuzzy adaptive controlinvariant setnon-differentiable disturbance To reference this document use: http://resolver.tudelft.nl/uuid:596b9bd7-7966-4864-8ceb-efbd5f823575 DOI https://doi.org/10.1109/TFUZZ.2019.2892353 ISSN 1063-6706 Source IEEE Transactions on Fuzzy Systems, 27 (3), 598-604 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2019 Maolong Lv, S. Baldi, Zongcheng Liu Files PDF FINAL_VERSION.pdf 447.3 KB Close viewer /islandora/object/uuid:596b9bd7-7966-4864-8ceb-efbd5f823575/datastream/OBJ/view