High-gain fractional disturbance observer control of uncertain dynamical systems. Issue 9 (June 2021)

• Record Type: Journal Article
• Authors: Muñoz-Vázquez, Aldo Jonathan; Parra-Vega, Vicente; Sánchez-Orta, Anand; Martínez-Fuentes, Oscar
• Is Part Of: Journal of the Franklin Institute. Volume 358:Issue 9(2021)
• Page Start: 4793
• Page End: 4806
• Publication Date: 2021-06
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2021.04.020
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: Disturbance observer-based control allows to compensate unknown inputs, however, in most cases, requiring their integer-order differentiability. In this paper, a novel disturbance observer-based state feedback controller is proposed to compensate a more general class of fractional-, but not necessarily integer-order, differentiable unknown inputs. The proposed fractional PI-like structure yields precise conditions for feedback gain tuning. Remarkably, the resulting controller rejects non-differentiable disturbances with a smooth controller, guaranteeing robustness, an outstanding features for tracking tasks, under a prescribed practical stability regimen. A comparison to a fractional sliding mode observer is conducted via simulations to highlight the reliability of the proposed scheme.