UDE-based robust control for a class of non-affine nonlinear systems

Beibei Ren, Qing Chang Zhong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

In this paper, the UDE (uncertainty and disturbance estimator) based robust control is investigated for a class of non-affine nonlinear systems in a normal form. Control system design for non-affine nonlinear systems is one of the most difficult problems due to the lack of mathematical tools. This is also true even for the exact known non-affine systems because of the difficulty in explicitly constructing the control law. It is shown that the proposed UDE-based robust control strategy leads to a stable system. The most important features of the approach are that (i) by adding and subtracting the control term u, the original non-affine form is transformed into a semi-affine form, which not only simplifies the control design procedure, but also avoids the singularity problem of the controller; (ii) the employment of UDE makes the estimation of the lumped uncertain term which is a function of control input, states and disturbances possible, rather than states alone; and (iii) it does not require any knowledge (e.g., bounds) about the uncertainties and disturbances, except the information about the bandwidth, during the design process. The stability of the closed-loop system is established. Effectiveness of the proposed approach is demonstrated through application to the hard disk driver control problem.

Original languageEnglish
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)9780791856147
DOIs
StatePublished - 2013
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Publication series

NameASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Volume3

Conference

ConferenceASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Country/TerritoryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

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