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.
Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received December 9, 2016; final manuscript received June 19, 2018; published online July 23, 2018. Assoc. Editor: Manish Kumar.
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Dai, J., Ren, B., and Zhong, Q. (July 23, 2018). "Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances." ASME. J. Dyn. Sys., Meas., Control. December 2018; 140(12): 121005. https://doi.org/10.1115/1.4040590
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