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

J. Yang; W.-H. Chen; S. Li

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

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

Author(s): J. Yang ; W.-H. Chen ; S. Li
DOI: 10.1049/iet-cta.2010.0616

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Author(s): J. Yang ¹ ; W.-H. Chen ² ; S. Li ¹
- Affiliations: 1: Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing, People's Republic of China
  2: Department of Aeronautical and Automotive Engineering, Loughborough University, UK
Source: Volume 5, Issue 18, 8 December 2011, p. 2053 – 2062
DOI: 10.1049/iet-cta.2010.0616 , Print ISSN 1751-8644, Online ISSN 1751-8652

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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.

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

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