Abstract
In this article, an uncertainty and disturbance estimator (UDE)-based robust output feedback control technique without using a state observer is proposed for a general class of nonlinear single-input single-output systems that are bounded-input bounded-output stable and subject to input and output disturbances. Instead of designing a controller for the original system directly, an equivalent system consisting of a first-order linear system plus a lumped uncertainty term is used to represent the input-output relationship. Then, a UDE-based robust controller is designed only using the system output feedback and the bandwidth of the open-loop system, making the design almost modeling-free. A prominent advantage of the proposed approach is that it has converted a challenging robust control problem into an intuitive filter design problem. The effectiveness of the proposed approach is validated on an experimental piezoelectric stage in the presence of hysteresis nonlinearity.
Original language | English |
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Article number | 8844866 |
Pages (from-to) | 7819-7828 |
Number of pages | 10 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 67 |
Issue number | 9 |
DOIs | |
State | Published - Sep 2020 |
Keywords
- Hysteresis
- output feedback
- piezoelectric stage
- trajectory tracking
- uncertainty and disturbance estimator (UDE)-based robust control