Robust Control for a Class of Nonaffine Nonlinear Systems Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Vol 62 (9) ◽  
pp. 5881-5888 ◽  
Author(s):  
Beibei Ren ◽  
Qing-Chang Zhong ◽  
Jinhao Chen
Keyword(s):  
Robust Control ◽  
Nonlinear Systems ◽  
Uncertainty And Disturbance Estimator ◽  
Nonaffine Nonlinear Systems ◽  
Disturbance Estimator

Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator

2004 ◽  
Vol 126 (4) ◽  
pp. 905-910 ◽  
Author(s):  
Qing-Chang Zhong ◽  
David Rees
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Robust Stability ◽  
Control Strategy ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertainty And Disturbance Estimator ◽  
Derivatives Of ◽  
Siso Systems ◽  
Disturbance Estimator

This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Jiguo Dai ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Nonlinear Systems ◽  
Reference Model ◽  
Experimental Studies ◽  
Feedback Form ◽  
Backstepping Approach ◽  
Mismatched Uncertainties ◽  
Uncertainty And Disturbance Estimator ◽  
Uniformly Ultimate Boundedness ◽  
System Errors ◽  
Disturbance Estimator

This paper proposes an uncertainty and disturbance estimator (UDE)-based controller for nonlinear systems with mismatched uncertainties and disturbances, integrating the UDE-based control and the conventional backstepping scheme. The adoption of the backstepping scheme helps to relax the structural constraint of the UDE-based control. Moreover, the reference model design in the UDE-based control offers a solution to address the “complexity explosion” problem of the backstepping approach. Furthermore, the strict-feedback form condition in the conventional backstepping approach is also relaxed by using the UDE-based control to estimate and compensate “disturbance-like” terms including nonstrict-feedback terms and intermediate system errors. The uniformly ultimate boundedness of the closed-loop system is analyzed. Both numerical and experimental studies are provided.

Control of Uncertain Nonlinear Systems Using an Uncertainty and Disturbance Estimator

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
V. S. Deshpande ◽  
S. B. Phadke
Keyword(s):  
Nonlinear Systems ◽  
Linear Systems ◽  
Uncertain Nonlinear Systems ◽  
Initial Control ◽  
Uncertainty And Disturbance Estimator ◽  
The Stability ◽  
Uncertain Linear Systems ◽  
Disturbance Estimator

In this paper, we extend a recently developed method (Zhong and Rees, 2004, “Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst., Meas., Control, 126(4), pp. 905–910), for controlling uncertain linear systems using an uncertainty and disturbance estimator, to uncertain nonlinear systems. Further the control proposed in this paper removes the drawback of large initial control underlying the method. The stability of the overall system of the plant and the estimator is proved. The efficacy of the method is illustrated by simulation.

Sign in / Sign up

Export Citation Format

Share Document