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.
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December 2018
Research-Article
Uncertainty and Disturbance Estimator-Based Backstepping Control for Nonlinear Systems With Mismatched Uncertainties and Disturbances
Jiguo Dai,
Jiguo Dai
Department of Mechanical Engineering,
Texas Tech University,
Lubbock, TX 79409
e-mail: jiguo.dai@ttu.edu
Texas Tech University,
Lubbock, TX 79409
e-mail: jiguo.dai@ttu.edu
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Beibei Ren,
Beibei Ren
Department of Mechanical Engineering,
Texas Tech University,
Lubbock, TX 79409
e-mail: beibei.ren@ttu.edu
Texas Tech University,
Lubbock, TX 79409
e-mail: beibei.ren@ttu.edu
Search for other works by this author on:
Qing-Chang Zhong
Qing-Chang Zhong
Department of Electrical & Computer
Engineering,
Illinois Institute of Technology,
Chicago, IL 60616
e-mail: zhongqc@ieee.org
Engineering,
Illinois Institute of Technology,
Chicago, IL 60616
e-mail: zhongqc@ieee.org
Search for other works by this author on:
Jiguo Dai
Department of Mechanical Engineering,
Texas Tech University,
Lubbock, TX 79409
e-mail: jiguo.dai@ttu.edu
Texas Tech University,
Lubbock, TX 79409
e-mail: jiguo.dai@ttu.edu
Beibei Ren
Department of Mechanical Engineering,
Texas Tech University,
Lubbock, TX 79409
e-mail: beibei.ren@ttu.edu
Texas Tech University,
Lubbock, TX 79409
e-mail: beibei.ren@ttu.edu
Qing-Chang Zhong
Department of Electrical & Computer
Engineering,
Illinois Institute of Technology,
Chicago, IL 60616
e-mail: zhongqc@ieee.org
Engineering,
Illinois Institute of Technology,
Chicago, IL 60616
e-mail: zhongqc@ieee.org
1Corresponding author.
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.
J. Dyn. Sys., Meas., Control. Dec 2018, 140(12): 121005 (11 pages)
Published Online: July 23, 2018
Article history
Received:
December 9, 2016
Revised:
June 19, 2018
Citation
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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