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

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Jiguo Dai ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Nonlinear Systems ◽  
Reference Model ◽  
Experimental Studies ◽  
Feedback Form ◽  
Backstepping Approach ◽  
Mismatched Uncertainties ◽  
Uncertainty And Disturbance Estimator ◽  
Uniformly Ultimate Boundedness ◽  
System Errors ◽  
Disturbance Estimator

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.

Robust Attitude Tracking Control for a Quadrotor Based on the Uncertainty and Disturbance Estimator

2015 ◽  
Author(s):  
Jiguo Dai ◽  
Qi Lu ◽  
Beibei Ren ◽  
Qing-Chang Zhong
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Controller Design ◽  
Tracking Error ◽  
Experimental Studies ◽  
Attitude Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Error Dynamics ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

Aeroengine Multivariable Nonlinear Tracking Control Based on Uncertainty and Disturbance Estimator

2014 ◽  
Vol 136 (12) ◽  
Author(s):  
Lingfei Xiao
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Reference Model ◽  
Robust Tracking Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
Nonlinear Tracking ◽  
Uncertainty And Disturbance Estimator ◽  
Disturbance Estimator

The multivariable robust tracking control problem for aeroengine is considered in this paper. On the basis of the aeroengine nonlinear affine uncertain dynamic model, and according to uncertainty and disturbance estimator (UDE) control approach, a novel aeroengine multivariable robust nonlinear tracking control method is presented in order to provide favorable tracking and disturbance rejection performance. After getting a generalization form of UDE-based aeroengine multivariable controller, a simplification form of control law is obtained when a specified form of low-pass filter is applied. Reference model of the aeroengine system should have satisfying dynamic, thus an optional reference model is provided. Simulation on a twin-shaft aeroengine with two inputs, verifies the effectiveness of the proposed method.

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.

Robust Control of Quadrotors Based on an Uncertainty and Disturbance Estimator

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Ricardo Sanz ◽  
Pedro Garcia ◽  
Qing-Chang Zhong ◽  
Pedro Albertos
Keyword(s):  
Robust Control ◽  
Real Time ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Reference Model ◽  
Flight Tests ◽  
Real Time Applications ◽  
Uncertainty And Disturbance Estimator ◽  
Noise Amplification ◽  
Disturbance Estimator

In this paper, a robust control strategy is proposed to control the attitude and the altitude of quadrotors, based on an uncertainty and disturbance estimator (UDE). It is shown that the proposed controller can be tuned very easily, achieving the desired performance only by selecting an appropriate reference model and tuning a single parameter to tradeoff disturbance rejection with noise amplification in the control signal. The proposed control strategy is extensively validated in real-time applications with an experimental Quanser platform and also with a quadrotor prototype in real flight tests.

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