This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proporti...
This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proportional-Integral-Derivative (PID) control with time-varying gains, UDE based control gives an additional compensation for canceling system nonlinearities and introducing desired dynamics. In other words, UDE based control estimates only system uncertainties and unpredictable disturbances, but TDC treats even system nonlinearities and desired dynamics as uncertainties to be estimated. Since UDE based control requires less effort of estimating uncertainties than TDC, it shows better control performance over its counterpart. Simulation study on the position tracking control of a 2-link rigid robot manipulator is given to compare both controllers in tracking and disturbance rejection performance.