Disturbance Observer With Constraints
A quadratic programming framework that adds user defined constraints to disturbance observers.
A quadratic programming framework that adds user defined constraints to disturbance observers.
Overview
The constrained disturbance observer, or CDOB, extends conventional disturbance rejection with explicit user defined constraints. It combines a disturbance observer with a quadratic program that simulates the nominal system while respecting those constraints.
When no constraint is active, CDOB behaves like a conventional disturbance observer. When a constraint becomes active, it limits disturbance rejection to keep the requested behavior within the feasible region. Numerical studies demonstrate this behavior across several constrained control scenarios.
Publication
T. H. Yun and M. J. Kim, “Disturbance Observer With Constraints,” IEEE Control Systems Letters, 2024. IEEE