Feedback linearization control for systems with mismatched uncertainties via disturbance observers

DOI10.1002/ASJC.1802zbMATH Open1432.93108arXiv2103.11292OpenAlexW2804020257WikidataQ129736233 ScholiaQ129736233MaRDI QIDQ5215151FDOQ5215151

Authors: Erkan Kayacan, Thor I. Fossen 

Publication date: 6 February 2020

Published in: Asian Journal of Control (Search for Journal in Brave)

Abstract: This paper focuses on a novel feedback linearization control (FLC) law based on a self-learning disturbance observer (SLDO) to counteract mismatched uncertainties. The FLC based on BNDO (FLC-BNDO) demonstrates robust control performance only against mismatched time-invariant uncertainties while the FLC based on SLDO (FLC-SLDO) demonstrates robust control performance against mismatched time-invariant and -varying uncertainties, and both of them maintain the nominal control performance in the absence of mismatched uncertainties. In the estimation scheme for the SLDO, the BNDO is used to provide a conventional estimation law, which is used as being the learning error for the type-2 neuro-fuzzy system (T2NFS), and T2NFS learns mismatched uncertainties. Thus, the T2NFS takes the overall control of the estimation signal entirely in a very short time and gives unbiased estimation results for the disturbance. A novel learning algorithm established on sliding mode control theory is derived for an interval type-2 fuzzy logic system. The stability of the overall system is proven for a second-order nonlinear system with mismatched uncertainties. The simulation results show that the FLC-SLDO demonstrates better control performance than the traditional FLC, FLC with an integral action (FLC-I) and FLC-BNDO.

Full work available at URL: https://arxiv.org/abs/2103.11292

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zbMATH Keywords

uncertain systemsdisturbance observerfeedback linearization controlmismatched uncertainty

Mathematics Subject Classification ID

Variable structure systems (93B12) Linearizations (93B18) Feedback control (93B52) Control/observation systems with incomplete information (93C41) Observers (93B53)

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Cited In (14)

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• Continuous nonsingular terminal sliding mode control for nonlinear systems subject to mismatched terms
• Reduced-order extended state observer based event-triggered sliding mode control for DC-DC buck converter system with parameter perturbation
• Robust tracking design for uncertain MIMO systems using proportional-integral controller of order \(\nu\)
• Variable-gain PD-type iterative learning control for a class of nonlinear time-varying systems
• Decentralized control design and implementation for magnetic levitation systems with extended state observer
• Disturbance observer‐based <scp>two‐Layer</scp> control strategy design to deal with both matched and mismatched uncertainties
• Mismatch in a predictor control scheme : some closed-form solutions
• Fixed-time sliding mode control with mismatched disturbances
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• Title not available (Why is that?)
• Filtered feedback linearization for nonlinear systems with unknown disturbance

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