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Title: Robust control of uncertain nonlinear systems: a nonlinear DOBC approach
Authors: Chen, Wen-Hua
Yang, Jun
Zhao, Zhenhua
Keywords: Uncertain system
Disturbance observer
Robust control
Issue Date: 2016
Publisher: © ASME
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.
Abstract: 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.
Description: This paper is embargoed until November 2016.
Sponsor: 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.
Version: Accepted for publication
DOI: 10.1115/1.4033018
URI: https://dspace.lboro.ac.uk/2134/20588
ISSN: 0022-0434
Appears in Collections:Closed Access (Aeronautical and Automotive Engineering)

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