Disturbance observer based actor-critic learning control for uncertain nonlinear systems

This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying disturbances. The proposed control algorithm integrates a filter-based design method with actor-critic learning architecture and disturbance observer to circumvent the unmodeled dynamic and the timevarying disturbance. To be specific, the actor network is employed to estimate the unknown system dynamic, the critic n...     

Observer-based motion axis control for hydraulic actuation systems

Unknown dynamics including mismatched mechanical dynamics(i.e., parametric uncertainties, unmodeled friction and external disturbances) and matched actuator dynamics(i.e., pressure and flow characteristic uncertainties) broadly exist in hydraulic actuation systems(HASs),which can hinder the achievement of high-precision motion axis control. To surmount the practical issue, an observer-based control framework with a simple structure and low computation is developed for HASs. First, a simple obser...     

Adaptive cubature Kalman filter with the estimation of correlation between multiplicative noise and additive measurement noise

Mobile robots are often subject to multiplicative noise in the target tracking tasks, where the multiplicative measurement noise is correlated with additive measurement noise. In this paper,first, a correlation multiplicative measurement noise model is established. It is able to more accurately represent the measurement error caused by the distance sensor dependence state. Then, the estimated performance mismatch problem of Cubature Kalman Filter(CKF) under multiplicative noise is analyzed. An i...