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Technical Briefs

Control of Uncertain Nonlinear Systems Using an Uncertainty and Disturbance Estimator

[+] Author and Article Information
V. S. Deshpande

 NBN Sinhgad School of Engineering Sinhgad Technical Education Society, Pune 411 041, India e-mail: vaijudesh@gmail.com

S. B. Phadke1

 College of Engineering, Pune Pune 411 005, India e-mail: sbphadke@hotmail.com

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(2), 024501 (Dec 29, 2011) (7 pages) doi:10.1115/1.4005042 History: Received December 21, 2009; Revised July 26, 2011; Published December 29, 2011; Online December 29, 2011

In this paper, we extend a recently developed method (Zhong and Rees, 2004, “Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator,” ASME J. Dyn. Syst., Meas., Control, 126 (4), pp. 905–910), for controlling uncertain linear systems using an uncertainty and disturbance estimator, to uncertain nonlinear systems. Further the control proposed in this paper removes the drawback of large initial control underlying the method. The stability of the overall system of the plant and the estimator is proved. The efficacy of the method is illustrated by simulation.

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Figures

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Figure 1

Response with unmodified UDE: (a) plant states x and (b) control u

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Figure 2

Response with modified UDE: (a) plant states x; (b) control u; (c) states x* and (d) uncertainty e* and estimate e∧*

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Figure 3

Model following control with modified UDE: (a) plant states x and model states z; (b) control u; (c) states x* and (d) uncertainty e* and estimate e∧*

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Figure 4

Estimation error for disturbance sin(10t) with first and second order filters: (a) estimation error with first order filter and (b) estimation error with second order filter

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Figure 5

Comparison between unmodified and modified schemes: (a) model following errors and (b) comparison of control

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