Name
Title | ||
|---|---|---|
Robust Control for a Class of Non-affine Nonlinear Systems Based on the Uncertainty and Disturbance Estimator |
Abstract | ||
|---|---|---|
In this paper, the UDE (uncertainty and disturbance estimator)-based robust control is applied to the control of a class of non-affine nonlinear systems. This class of systems is very general and covers a large range of nonlinear systems. However, the control of such systems is very challenging because the input variables are not expressed in an affine form, which leads to the failure of using feedback linearization. The proposed UDEbased control method avoids the “inverse operator” construction which might result in the control singularity problem. Moreover, the general assumption on the uncertainty and disturbance term is relaxed and only its bandwidth information is required for the control design. The asymptotic stability of the closedloop system is established. The proposed approach is easy to be implemented and tuned while bringing very good robust performance. The important features and performance of the proposed approach are demonstrated through both simulation studies and experimental validation on a servo system with nonaffine uncertainties. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/TIE.2015.2421884 | Industrial Electronics, IEEE Transactions |
Keywords | Field | DocType |
Nonlinear systems,disturbance,nonaffine systems,robust control,uncertainty,uncertainty and disturbance estimator (UDE) | Mathematical optimization,Nonlinear system,Control theory,Feedback linearization,Control engineering,Robustness (computer science),Exponential stability,Control system,Adaptive control,Robust control,Mathematics,Estimator | Journal |
Volume | Issue | ISSN |
PP | 99 | 0278-0046 |
Citations | PageRank | References |
30 | 1.13 | 24 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| beibei | 1 | 100 | 12.56 |
| Qing-Chang Zhong | 2 | 417 | 54.97 |
| Jinhao Chen | 3 | 30 | 1.13 |