Robust Backstepping Control for a Class of Nonlinear Systems using Generalized Disturbance Observer

다국어 초록 (Multilingual Abstract)

This paper presents a new composite robust controller for a class of uncertain nonlinear systems throughbackstepping 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 virtueof the proposed GDOB, the proposed controller only requires the lumped uncertainties are differentiable and thehigher-order derivatives are bounded. With the help of GDOB, the high-gain backstepping controller is also avoidedcompletely. Asymptotical stability of the closed-loop system is established using direct Lyapunov method. Anillustrative example of missile autopilot design is given and simulations are carried out to validate the proposedmethod.

참고문헌 (Reference)

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