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Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties

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journal contribution
posted on 07.12.2012 by Jun Yang, Wen-Hua Chen, Shihua Li
Robust control of non-linear systems with disturbances and uncertainties is addressed in this study using disturbance observer-based control (DOBC) technique. In this framework, the ‘disturbance’ is a generalised concept, which may include external disturbances, unmodelled dynamics and system parameter perturbations. The existing DOBC methods were only applicable for the case where disturbances and uncertainties satisfy so-called matching condition, that is, they enter the system in the same channel as the control inputs. By appropriately designing a disturbance compensation gain vector in the composite control law, a non-linear disturbance observer-based robust control method is proposed in this study to attenuate the mismatched disturbances and the influence of parameter variations from system output channels. The proposed method is applied to a missile system with non-linear dynamics in the presence of various uncertainties and external disturbances. Simulation shows that, compared with the widely used non-linear dynamic inversion control (NDIC) and NDIC plus integral action methods, the proposed method provides much better disturbance attenuation ability and stronger robustness against various parameter variations.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Citation

YANG, J., CHEN, W-H and LI, S., 2011. Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties. IET Control Theory and Applications, 5 (18), pp. 2053 - 2062.

Publisher

© Institution of Engineering and Technology

Version

AM (Accepted Manuscript)

Publication date

2011

Notes

This article was published in the journal, IET Control Theory and Applications [© Institution of Engineering and Technology (IET)].The definitive version is available at: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6086648

ISSN

1751-8644

eISSN

1751-8652

Language

en

Exports