Wen-Hua Chen

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A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing(More)
This paper presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To(More)
A new nonlinear predictive control law for a class of multivariable nonlinear systems is presented in this paper. It is shown that the closed-loop dynamics under this nonlinear predictive controller explicitly depend on design parameters (prediction time and control order). The main features of this result are that an explicitly analytical form of the(More)
Robust control of a class of uncertain systems that have disturbances and uncertainties not satisfying "matching" condition is investigated in this paper via a disturbance observer based control (DOBC) approach. In the context of this paper, "matched" disturbances/uncertainties stand for the disturbances/uncertainties entering the system through the same(More)
A robust nonlinear predictive controller for permanent-magnet synchronous motors is proposed. The nonlinear predictive control law is formulated by optimizing a novel cost function. A key feature of the proposed control is that it does not require the knowledge of the external perturbation and parameter uncertainties to enhance the robustness. A zero(More)