Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation

In this work, uncertainty and disturbance estimation (UDE) technique is employed to robustify an input--output linearisation (IOL) controller. An IOL controller designed for a nominal system is augmented by the UDE estimated uncertainties to achieve robustness. In doing so, state dependent nonlinear...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control 2011-05, Vol.84 (5), p.969-984
Main Authors: Talole, S.E., Chandar, T.S., Kolhe, Jaywant P.
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Computer science
control theory
systems
Control system analysis
Control system synthesis
Control theory. Systems
controller > observer structure
Controllers
Exact sciences and technology
input > output linearisation
Mathematical models
Modelling and identification
Motion control
nonlinear control
robust control
Studies
uncertainty and disturbance estimation
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this work, uncertainty and disturbance estimation (UDE) technique is employed to robustify an input--output linearisation (IOL) controller. An IOL controller designed for a nominal system is augmented by the UDE estimated uncertainties to achieve robustness. In doing so, state dependent nonlinearities of the system are treated as a part of the uncertainties and thus, the controller does not require system states for its implementation. The resulting controller, however, needs derivatives of the output. To address the issue, a design of an observer that employs the UDE estimated uncertainties for robustness is proposed giving rise to the UDE based controller--observer structure. Closed loop stability of the overall system is established. The notable feature of the proposed design is that it neither requires accurate plant model nor system states or derivatives of output. Also the approach does not need any information about the uncertainty. To demonstrate the effectiveness, numerical simulation results of the proposed approach as applied to the wing-rock motion control problem are presented. Lastly, hardware implementation of the UDE based controller-observer structure for motion control of Quanser's DC servo motion control platform is carried out and it is shown that the proposed strategy offers a viable approach for designing implementable robust IOL controllers.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2011.584352