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

Jiguo Dai; Beibei Ren; Qing Chang Zhong

doi:10.1109/ChiCC.2016.7553186

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

Jiguo Dai, Beibei Ren, Qing Chang Zhong

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

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 language	English
Title of host publication	Proceedings of the 35th Chinese Control Conference, CCC 2016
Editors	Jie Chen, Qianchuan Zhao, Jie Chen
Publisher	IEEE Computer Society
Pages	819-824
Number of pages	6
ISBN (Electronic)	9789881563910
DOIs	https://doi.org/10.1109/ChiCC.2016.7553186
State	Published - Aug 26 2016
Event	35th Chinese Control Conference, CCC 2016 - Chengdu, China Duration: Jul 27 2016 → Jul 29 2016

Publication series

Name	Chinese Control Conference, CCC
Volume	2016-August
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	35th Chinese Control Conference, CCC 2016
Country/Territory	China
City	Chengdu
Period	07/27/16 → 07/29/16

Keywords

Input saturation
Mismatched uncertainties
Uncertainty and disturbance estimator

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10.1109/ChiCC.2016.7553186

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). Article 7553186 (Chinese Control Conference, CCC; Vol. 2016-August). IEEE Computer Society. https://doi.org/10.1109/ChiCC.2016.7553186

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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.",

keywords = "Input saturation, Mismatched uncertainties, Uncertainty and disturbance estimator",

author = "Jiguo Dai and Beibei Ren and Zhong, {Qing Chang}",

note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",

year = "2016",

month = aug,

day = "26",

doi = "10.1109/ChiCC.2016.7553186",

language = "English",

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Dai, J, Ren, B & Zhong, QC 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., 7553186, Chinese Control Conference, CCC, vol. 2016-August, IEEE Computer Society, pp. 819-824, 35th Chinese Control Conference, CCC 2016, Chengdu, China, 07/27/16. https://doi.org/10.1109/ChiCC.2016.7553186

UDE-based robust control for nonlinear systems with mismatched uncertainties and input saturation. / Dai, Jiguo; Ren, Beibei; Zhong, Qing Chang.
Proceedings of the 35th Chinese Control Conference, CCC 2016. ed. / Jie Chen; Qianchuan Zhao; Jie Chen. IEEE Computer Society, 2016. p. 819-824 7553186 (Chinese Control Conference, CCC; Vol. 2016-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - UDE-based robust control for nonlinear systems with mismatched uncertainties and input saturation

AU - Dai, Jiguo

AU - Ren, Beibei

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N2 - 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.

AB - 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.

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KW - Uncertainty and disturbance estimator

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

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