This paper advocates disturbance observer-based control (DOBC) for uncertain nonlinear systems. Within this framework, a nonlinear controller is designed based on the nominal model in the absence of disturbance and uncertainty where the main design specifications are to stabilize the system and achieve good tracking performance. Then, a nonlinear disturbance observer is designed to not only estimate external disturbance but also system uncertainty/unmodeled dynamics. With described uncertainty, rigorous stability analysis of the closed-loop system under the composite controller is established in this paper. Finally, the robust control problems of a missile roll stabilization and a mass spring system are addressed to illustrative the distinct features of the nonlinear DOBC approach.
Skip Nav Destination
Article navigation
July 2016
Research-Article
Robust Control of Uncertain Nonlinear Systems: A Nonlinear DOBC Approach
Wen-Hua Chen,
Wen-Hua Chen
Department of Aeronautical and Automotive Engineering,
Loughborough University,
Leicestershire LE11 3TU, UK
e-mail: w.chen@lboro.ac.uk
Loughborough University,
Leicestershire LE11 3TU, UK
e-mail: w.chen@lboro.ac.uk
Search for other works by this author on:
Zhenhua Zhao
Zhenhua Zhao
Search for other works by this author on:
Wen-Hua Chen
Department of Aeronautical and Automotive Engineering,
Loughborough University,
Leicestershire LE11 3TU, UK
e-mail: w.chen@lboro.ac.uk
Loughborough University,
Leicestershire LE11 3TU, UK
e-mail: w.chen@lboro.ac.uk
Jun Yang
Zhenhua Zhao
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 26, 2014; final manuscript received February 29, 2016; published online May 3, 2016. Editor: Joseph Beaman.
J. Dyn. Sys., Meas., Control. Jul 2016, 138(7): 071002 (9 pages)
Published Online: May 3, 2016
Article history
Received:
October 26, 2014
Revised:
February 29, 2016
Citation
Chen, W., Yang, J., and Zhao, Z. (May 3, 2016). "Robust Control of Uncertain Nonlinear Systems: A Nonlinear DOBC Approach." ASME. J. Dyn. Sys., Meas., Control. July 2016; 138(7): 071002. https://doi.org/10.1115/1.4033018
Download citation file:
Get Email Alerts
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Stochastic Finite-Time Stabilization for a Class of Nonlinear Markovian Jump Stochastic Systems With Impulsive Effects
J. Dyn. Sys., Meas., Control (April,2015)
Nonlinear Robust Output Stabilization for Mechanical Systems Based on Luenberger-Like Controller/Observer
J. Dyn. Sys., Meas., Control (August,2017)
Adaptive Augmenting Control Design for Time-Varying Polytopic Systems
J. Dyn. Sys., Meas., Control (January,2017)
An Online Tuning Method for Robust Control of Multivariable Nonlinear Processes With Nonanalytical Modules and Time Delay
J. Dyn. Sys., Meas., Control (April,2017)
Related Proceedings Papers
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)
Advances in the Stochastic Modeling of Constitutive Laws at Small and Finite Strains
Advances in Computers and Information in Engineering Research, Volume 2