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research-article

UDE-based Backstepping Control for Nonlinear Systems with Mismatched Uncertainties and Disturbances

[+] Author and Article Information
Jiguo Dai

Dept. of Mechanical Engineering, Texas Tech University, Lubbock, Texas 79409, USA
jiguo.dai@ttu.edu

Beibei Ren

Dept. of Mechanical Engineering, Texas Tech University, Lubbock, Texas 79409,USA
beibei.ren@ttu.edu

Qing-Chang Zhong

Dept. of Electrical & Computer Engineering, Illinois Institute of Technology, Chicago, IL, 60616, USA
zhongqc@ieee.org

1Corresponding author.

ASME doi:10.1115/1.4040590 History: Received December 09, 2016; Revised June 19, 2018

Abstract

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 non-strict-feedback terms and intermediate system errors. The uniformly ultimate boundedness of the closed-loop system is analyzed. Both numerical and experimental studies are provided.

Copyright (c) 2018 by ASME
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