Design of a Robust Trajectory Linearization Controller for Uncertain Nonlinear Systems Based on Nonlinear Disturbance Observer

A novel nonlinear robust control strategy for a class of uncertain nonlinear systems is presented,which is based on trajectory linearization control(TLC) method and nonlinear disturbance observer(NDO) technique.TLC is an effective nonlinear tracking and decoupling control method.However,the performance of the current TLC may significantly degrade when internal unmodeled dynamics and external disturbances exist.In this paper,an NDO is used to estimate the uncertainties,and then its output is integrated with the TLC to cancel the unknown term.Finally,a numerical simulation example is presented to prove the effectiveness of the proposed method.Simulation results demonstrate that the robust trajectory linearization control method has significant disturbance attenuation ability and performance robustness.