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Robust backstepping control for a class of nonlinear systems using generalized disturbance observer

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  • Control Theory and Applications
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Abstract

This paper presents a new composite robust controller for a class of uncertain nonlinear systems through backstepping method and disturbance observer (DOB) technique. By designing a generalized disturbance observer (GDOB), the mismatched/matched uncertainty is estimated and compensated at each backstepping step. By virtue of the proposed GDOB, the proposed controller only requires the lumped uncertainties are differentiable and the higher-order derivatives are bounded. With the help of GDOB, the high-gain backstepping controller is also avoided completely. Asymptotical stability of the closed-loop system is established using direct Lyapunov method. An illustrative example of missile autopilot design is given and simulations are carried out to validate the proposed method.

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Author information

Authors and Affiliations

  1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing, China

    Jiang Wang, Shaoming He & Defu Lin

Authors
  1. Jiang Wang
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  2. Shaoming He
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  3. Defu Lin
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Corresponding author

Correspondence to Jiang Wang.

Additional information

Recommended by Associate Editor Juhoon Back under the direction of Editor Myo Taeg Lim. This work is supported by the Natural Science Foundation of China (Grant No. 61172182), the open research project of the Beijing key laboratory of high dynamic navigation technology (Grant No. HDN2014103) and the fundamental research project of Beijing Institute of Technology (Grant No. 20130142017).

Jiang Wang was born in 1980. He received his Ph.D. degree in flying vehicle design from Beijing Institute of Technology in 2008. He is currently an associate professor in School of Aerospace Engineering, Beijing Institute of Technology. His research interests include missile guidance & control, and UAV formation control.

Shaoming He was born in 1991. He received his B.S. degree in Aerospace Engineering from Beijing Institute of Technology in 2013. He is currently a graduate student in School of Aerospace Engineering, Beijing Institute of Technology. His research interests include nonlinear control and its application in guidance & control.

Defu Lin was born in 1971. He received his Ph.D. degree in flying vehicle design from Beijing Institute of Technology in 2005. He is currently a professor in School of Aerospace Engineering, Beijing Institute of Technology. Prof. Lin is the deputy head of the Institute of UAV Autonomous Control, Beijing Institute of Technology. His research interests include overall design of flying vehicle, guidance & control technology, UAV autonomous control, UAV formation and aerodynamics.

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Wang, J., He, S. & Lin, D. Robust backstepping control for a class of nonlinear systems using generalized disturbance observer. Int. J. Control Autom. Syst. 14, 1475–1483 (2016). https://doi.org/10.1007/s12555-014-0401-0

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  • DOI: https://doi.org/10.1007/s12555-014-0401-0

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