UDE-Based Robust Output Feedback Control with Applications to a Piezoelectric Stage

Beibei Ren, Jiguo Dai, Qing Chang Zhong

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

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 languageEnglish
Article number8844866
Pages (from-to)7819-7828
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume67
Issue number9
DOIs
StatePublished - Sep 2020

Keywords

  • Hysteresis
  • output feedback
  • piezoelectric stage
  • trajectory tracking
  • uncertainty and disturbance estimator (UDE)-based robust control

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