Robust input–output linearisation using uncertainty and disturbance estimation

Abstract

Abstract This article proposes a new approach to robustify an input–output linearisation controller. The robustification is achieved by estimating the uncertainties and external unmeasurable disturbances using a novel uncertainty and disturbance estimator. A significant feature of the proposed approach is that it does not need any information about the uncertainties. The stability of the system and the estimator is established. Effectiveness of the proposed approach is demonstrated through application to the wing rock motion control problem. Keywords: non-linear controlinput–output feedback linearisationuncertainty and disturbance estimationrobust controlcontrol of wing rock motion