Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances
Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances
复制标题
DOI：
10.1115/1.4040590
复制
发表时间：
2018-07
期刊：
影响因子：
--
通讯作者：
Jiguo Dai;B. Ren;Qing-Chang Zhong
中科院分区：
文献类型：
--
作者：
Jiguo Dai;B. Ren;Qing-Chang Zhong
针对具有非匹配不确定性和干扰的非线性系统，提出了一种基于不确定性和干扰估计器（UDE）的控制器，将基于UDE的控制与传统的反推方法相结合。反推方案的采用有助于放松基于微分方程的控制的结构约束。此外，参考模型的设计，在基于微分方程的控制提供了一个解决方案，以解决“复杂性爆炸”的问题的反推方法。此外，严格反馈形式的条件，在传统的backstepping方法也放宽了使用基于微分方程的控制来估计和补偿“类干扰”的条款，包括非严格反馈条款和中间系统误差。分析了闭环系统的一致最终有界性。数值和实验研究提供。
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.