scholarly journals An Extended Multi-Surface Sliding Control for Matched/Mismatched Uncertain Nonlinear Systems Through a Lumped Disturbance Estimator

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 91468-91475 ◽  
Author(s):  
Ha Le Nhu Ngoc Thanh ◽  
Sung Kyung Hong
Keyword(s):  
Nonlinear Systems ◽  
Uncertain Nonlinear Systems ◽  
Sliding Control ◽  
Disturbance Estimator

Control of Uncertain Nonlinear Systems Using an Uncertainty and Disturbance Estimator

2011 ◽  
Vol 134 (2) ◽  
Author(s):  
V. S. Deshpande ◽  
S. B. Phadke
Keyword(s):  
Nonlinear Systems ◽  
Linear Systems ◽  
Uncertain Nonlinear Systems ◽  
Initial Control ◽  
Uncertainty And Disturbance Estimator ◽  
The Stability ◽  
Uncertain Linear Systems ◽  
Disturbance Estimator

In this paper, we extend a recently developed method (Zhong and Rees, 2004, “Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst., Meas., Control, 126(4), pp. 905–910), for controlling uncertain linear systems using an uncertainty and disturbance estimator, to uncertain nonlinear systems. Further the control proposed in this paper removes the drawback of large initial control underlying the method. The stability of the overall system of the plant and the estimator is proved. The efficacy of the method is illustrated by simulation.

A novel adaptive-gain disturbance estimator-based asymptotic adaptive tracking control for uncertain nonlinear systems

2021 ◽  
pp. 014233122110436
Author(s):  
Xiaowei Yang ◽  
Wenxiang Deng ◽  
Long Liu ◽  
Jianyong Yao
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Tracking Performance ◽  
Practical Implementation ◽  
Parametric Uncertainties ◽  
Uncertain Nonlinear Systems ◽  
Estimation Errors ◽  
Asymptotic Tracking ◽  
The Impact ◽  
Disturbance Estimator

This article focuses on the asymptotic tracking control problem for uncertain nonlinear systems subject to both multiple disturbances and parametric uncertainties. To address this issue, a parameter adaptation law is synthesized to deal with the parametric uncertainties, and an adaptive-gain disturbance estimator (ADE) is constructed to estimate the mismatched and matched disturbances, and compensate them in feedforward channels, which eliminates the impact of disturbances on tracking performance. Meanwhile, an updated law for estimator gain driven by the estimation errors is utilized in the ADE when facing unknown upper bounds of disturbances, which reduces the conservatism of estimator gain selection and is beneficial to practical implementation. Based on the parameter adaption technique and the presented ADE approach, a composite controller is proposed to ensure an excellent asymptotic output tracking performance. The stability analysis shows the proposed controller can attain asymptotic tracking performance in the presence of both time-variant disturbances and parametric uncertainties. Comparative simulation results of the application to a robot manipulator reveal the validity of the developed approach.

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