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Mathematical Problems in Engineering
Volume 2016, Article ID 3839505, 13 pages
Research Article

Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

Department of Automation, Shanghai Jiao Tong University, Shanghai, China

Received 24 January 2016; Revised 11 May 2016; Accepted 5 June 2016

Academic Editor: Sergey A. Suslov

Copyright © 2016 Yanjun Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Robust disturbance rejection control methodology is proposed for Euler-Lagrange systems, and parameters optimization strategy for the observer is explored. First, the observer based disturbance rejection methodology is analyzed, based on which the disturbance rejection paradigm is proposed. Thus, a disturbance observer (DOB) with partial feedback linearization and a low-pass filter is proposed for nonlinear dynamic model under relaxed restrictions of the generalized disturbance. Then, the outer-loop backstepping controller is designed for desired tracking performance. Considering that the parameters of DOB cannot be obtained directly based on Lyapunov stability analysis, parameter of DOB is optimized under standard control framework. By analyzing the influence of outer-loop controller on the inner-loop observer parameter, robust stability constraint is proposed to guarantee the robust stability of the closed-loop system. Experiment on attitude tracking of an aircraft is carried out to show the effectiveness of the proposed control strategy.