In this paper, the UDE (uncertainty and disturbance estimator) based robust control is investigated for a class of non-affine nonlinear systems in a normal form. Control system design for non-affine nonlinear systems is one of the most difficult problems due to the lack of mathematical tools. This is also true even for the exact known non-affine systems because of the difficulty in explicitly constructing the control law. It is shown that the proposed UDE-based robust control strategy leads to a stable system. The most important features of the approach are that (i) by adding and subtracting the control term u, the original non-affine form is transformed into a semi-affine form, which not only simplifies the control design procedure, but also avoids the singularity problem of the controller; (ii) the employment of UDE makes the estimation of the lumped uncertain term which is a function of control input, states and disturbances possible, rather than states alone; and (iii) it does not require any knowledge (e.g., bounds) about the uncertainties and disturbances, except the information about the bandwidth, during the design process. The stability of the closed-loop system is established. Effectiveness of the proposed approach is demonstrated through application to the hard disk driver control problem.
- Dynamic Systems and Control Division
UDE-Based Robust Control for a Class of Non-Affine Nonlinear Systems
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Ren, B, & Zhong, Q. "UDE-Based Robust Control for a Class of Non-Affine Nonlinear Systems." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control. Palo Alto, California, USA. October 21–23, 2013. V003T34A004. ASME. https://doi.org/10.1115/DSCC2013-3807
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