Robust Control of Uncertain Nonlinear Systems: A Nonlinear DOBC Approach

Chen, Wenhua; Yang, Jun; Zhao, Zhenhua

doi:10.1115/1.4033018

Cited by 31 publications

(9 citation statements)

References 23 publications

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“…In the proposed eventtriggering mechanism, the control signal is transmitted via communication network only when a predetermined lower threshold that depending on the control signal has been reached. Moreover, without the ISS assumption depending on the measurement errors, the nonlinear disturbance observer-based control (DOBC) approach [24][25][26][27] is applied to effectively estimate the total disturbance. By the proposed disturbance observerbased event-triggered control method, it is shown that the global boundedness of the signals in closed-loop system is guaranteed, and the tracking error is ensured to converge to a set, which can be made as small as desired by adjusting control parameters.…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer–based event-triggered tracking control of networked robot manipulator

Yang

et al. 2020

Measurement and Control

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We investigate the event-triggered tracking control of networked manipulator in the presence of external disturbance and a variety of system uncertainties. The event-triggered controller is designed by the nonlinear disturbance observer–based control approach, which can dynamically compensate for both errors caused by disturbances and the undesirable effects caused by event-triggering rules. A rigorous Lyapunov stability analysis method is proposed to show that the boundedness of all the signals in the closed-loop system can be guaranteed while in the absence of the input-to-state stability assumption related to measurement errors, tracking error can be constrained to an arbitrarily small set without escaping. Finally, by some simulation results, the feasibility and effectiveness of the proposed control approach is demonstrated.

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Section: Introductionmentioning

confidence: 99%

Disturbance observer–based event-triggered tracking control of networked robot manipulator

Yang

et al. 2020

Measurement and Control

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“…Nevertheless, robust control is mostly achieved at a price of sacrificing the nominal control performance since the control performance in the nominal case is usually not directly taken into account [15]. Such a design philosophy may cause unsatisfactory overall performance since most practical systems usually operate around their nominal operation point, and rarely operate far away from their nominal operation point [5].…”

Section: Introductionmentioning

confidence: 99%

“…The nominal dynamics of the uncertain nonlinear systems under consideration are nonlinear, which differs from [17], [18], [19]. A preliminary result of this paper has been published in [5], which provides a simple local result. However, to surmount the limitation of local result, it is quite challenging to conduct stability analysis as it is hard to evaluate the bounds of coupling terms between the system dynamics and the estimator error dynamics outside a local region.…”

Section: Introductionmentioning

confidence: 99%

Nonlinearity Estimator-Based Control of A Class of Uncertain Nonlinear Systems

Yang

Liu

et al. 2020

IEEE Trans. Automat. Contr.

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The robust control problem of a class of nonlinear systems subject to external disturbances, control gain uncertainty and nonlinear uncertainties is investigated in this paper using a nonlinearity estimator-based control approach. Different from the existing results, the crucial but highly restrictive hypothesis on the boundedness of nonlinear uncertainties is removed from this paper by means of the tools of semi-global stabilization. By delicately constructing a specific composite Lyapunov function for the closed-loop system as well as several useful level sets, the rigorous qualitative robustness performance is presented for the closed-loop system. Finally, an example of a singlelink manipulator is utilized to demonstrate the performance specification claimed by the theoretical analysis.

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“…Thus, many advanced control approaches have been employed to handle disturbance attenuation and rejection problem, such as adaptive dynamical compensation [4], control [5], output regulator theory [6], and so on. In late 1980s, disturbance‐observer‐based control (DOBC) theory was studied and the basic idea of the DOBC scheme is to employ the observer to estimate the effects of external disturbances on the system and compensate in the feedforward channel [7–9]. However, in most of the DOBC results, the external system modelling interference is considered as harmonic disturbance or constant disturbance of linear system.…”

Section: Introductionmentioning

confidence: 99%