UDE-based robust control for nonlinear systems with mismatched uncertainties and input saturation

Jiguo Dai, Beibei Ren, Qing Chang Zhong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, the uncertainty and disturbance estimator (UDE)-based control is adopted for a class of nonlinear systems with mismatched uncertainties and input saturation. By integrating with the backstepping approach, the robustness for the mismatched uncertainties is guaranteed by the recursive structure of backstepping. The 'disturbance-like' terms which consist of the unknown dynamics, disturbances and the system intermediate tracking errors are estimated by low-pass filters with the knowledge of spectrum information. An auxiliary system is constructed to deal with the input saturation while only the system order information is known. Stability analysis of the closed-loop system shows that the uniformly ultimate boundedness is guaranteed. A numerical example is provided to illustrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 35th Chinese Control Conference, CCC 2016
EditorsJie Chen, Qianchuan Zhao, Jie Chen
PublisherIEEE Computer Society
Pages819-824
Number of pages6
ISBN (Electronic)9789881563910
DOIs
StatePublished - Aug 26 2016
Event35th Chinese Control Conference, CCC 2016 - Chengdu, China
Duration: Jul 27 2016Jul 29 2016

Publication series

NameChinese Control Conference, CCC
Volume2016-August
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference35th Chinese Control Conference, CCC 2016
CountryChina
CityChengdu
Period07/27/1607/29/16

Keywords

  • Input saturation
  • Mismatched uncertainties
  • Uncertainty and disturbance estimator

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  • Cite this

    Dai, J., Ren, B., & Zhong, Q. C. (2016). UDE-based robust control for nonlinear systems with mismatched uncertainties and input saturation. In J. Chen, Q. Zhao, & J. Chen (Eds.), Proceedings of the 35th Chinese Control Conference, CCC 2016 (pp. 819-824). [7553186] (Chinese Control Conference, CCC; Vol. 2016-August). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2016.7553186