Robust Control for a Class of Nonaffine Nonlinear Systems Based on the Uncertainty and Disturbance Estimator
Robust Control for a Class of Nonaffine Nonlinear Systems Based on the Uncertainty and Disturbance Estimator
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DOI：
10.1109/tie.2015.2421884
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发表时间：
2015-04
影响因子：
7.7
通讯作者：
B. Ren;Qing-Chang Zhong;Jinhao Chen
中科院分区：
文献类型：
--
作者：
B. Ren;Qing-Chang Zhong;Jinhao Chen
本文将基于不确定性和扰动估计器的鲁棒控制应用于一类非仿射非线性系统的控制。这类系统是非常普遍的，涵盖了大范围的非线性系统。然而，这类系统的控制是非常具有挑战性的，因为输入变量不是以仿射形式表示的，这导致使用反馈线性化的失败。所提出的基于微分方程的控制方法避免了逆算子的构造，这可能会导致控制奇异问题。此外，不确定项和干扰项的一般假设被放松，并且控制设计仅需要其带宽信息。建立了闭环系统的渐近稳定性。所提出的方法易于实现和调整，同时带来了非常好的鲁棒性能。所提出的方法的重要功能和性能表现出通过仿真研究和实验验证的伺服系统与非仿射不确定性。
In this paper, the uncertainty and disturbance estimator (UDE)-based robust control is applied to the control of a class of nonaffine nonlinear systems. This class of systems is very general and covers a large range of nonlinear systems. However, the control of such systems is very challenging because the input variables are not expressed in an affine form, which leads to the failure of using feedback linearization. The proposed UDE-based control method avoids the inverse operator construction, which might result in the control singularity problem. Moreover, the general assumption on the uncertainty and disturbance term is relaxed, and only its bandwidth information is required for the control design. The asymptotic stability of the closed-loop system is established. The proposed approach is easy to be implemented and tuned while bringing very good robust performance. The important features and performance of the proposed approach are demonstrated through both simulation studies and experimental validation on a servo system with nonaffine uncertainties.