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Robust control of uncertain nonlinear systems: a nonlinear DOBC approach

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journal contribution
posted on 2016-03-15, 16:14 authored by Wen-Hua ChenWen-Hua Chen, Jun Yang, Zhenhua Zhao
This paper advocates disturbance observer based control (DOBC) for uncertain nonlinear systems. Within this framework, a nonlinear controller is designed based on the nominal model in the absence of disturbance and uncertainty where the main design specifications are to stabilize the system and achieve good tracking performance. Then a nonlinear disturbance observer is designed to not only estimate external disturbance but also system uncertainty/ unmodelled dynamics. With described uncertainty, rigorous stability analysis of the closed-loop system under the composite controller is established in this paper. Finally, the robust control problems of a missile roll stabilization and a mass spring system are addressed to illustrative the distinct features of the nonlinear DOBC approach.

Funding

This work was supported in part by the National Natural Science Foundation of China under Grants 61203011 and 61573099, the Natural Science Foundation of Jiangsu Province under Grant BK2012327, Chinese Postdoctorial Science Foundation under Grants 2013M540406 and 2014T70455, and Fundamental Research Funds for the Central Universities.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

ASME Journal of Dynamic Systems, Measurement and Control

Citation

CHEN, W.-H., YANG, J. and ZHAO, Z.-H., 2016. Robust control of uncertain nonlinear systems: a nonlinear DOBC approach. Journal of Dynamic Systems, Measurement and Control, 138 (7), paper 071002.

Publisher

© ASME

Version

  • AM (Accepted Manuscript)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2016

Notes

This paper was accepted for publication in Journal of Dynamic Systems, Measurement and Control and the definitive published version is available at http://dx.doi.org/10.1115/1.4033018.

ISSN

0022-0434

eISSN

1528-9028

Language

  • en

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