Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems with Mismatched Uncertainties and Disturbances

Jiguo Dai, Beibei Ren, Qing Chang Zhong

Research output: Contribution to journalArticlepeer-review

7 Scopus citations

Abstract

This paper proposes an uncertainty and disturbance estimator (UDE)-based controller for nonlinear systems with mismatched uncertainties and disturbances, integrating the UDE-based control and the conventional backstepping scheme. The adoption of the backstepping scheme helps to relax the structural constraint of the UDE-based control. Moreover, the reference model design in the UDE-based control offers a solution to address the "complexity explosion" problem of the backstepping approach. Furthermore, the strict-feedback form condition in the conventional backstepping approach is also relaxed by using the UDE-based control to estimate and compensate "disturbance-like" terms including nonstrict-feedback terms and intermediate system errors. The uniformly ultimate boundedness of the closed-loop system is analyzed. Both numerical and experimental studies are provided.

Original languageEnglish
Article number121005
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume140
Issue number12
DOIs
StatePublished - Dec 1 2018

Keywords

  • Uncertainty and disturbance estimator
  • backstepping
  • mismatched uncertainties and disturbances

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