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
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

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