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A Self-Learning Disturbance Observer for Nonlinear Systems in Feedback-Error Learning Scheme
This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning scheme and sliding mode control (SMC) theory.
Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle
The experimental results for a time-based trajectory show that the NMHE-NMPC framework with the proposed real-time iteration scheme gives better trajectory tracking performance than the ISL-LMPC framework and the required computation time is feasible for real-time applications.
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