Disturbance observer assisted robust control of wing rock motion based on contraction theory

Alon Kuperman, Qing Chang Zhong

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


A nonlinear robust control strategy is proposed in this paper to deal with wing rock motion. The method is based on the disturbance observer enforced contraction theory results. The disturbance observer calculates and robustly cancels system uncertainties and input disturbances. The information regarding the known part of the nonlinear plant dynamics is used by the controller, while the uncertainties and disturbances are treated as an additional input to the system and dealt with by the disturbance observer. The algorithm demonstrates good performance in damping the oscillations while rejecting the disturbances. Simulations are provided to demonstrate the effectiveness of the proposed method via an application to an experimentally derived delta wing rock model operating in both nominal and uncertain environments.

Original languageEnglish
Pages (from-to)1128-1136
Number of pages9
Issue number9
StatePublished - 1 Jan 2013
Externally publishedYes


  • contraction theory
  • disturbance observer
  • nonlinear systems
  • robust control
  • wing rock

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Computer Graphics and Computer-Aided Design


Dive into the research topics of 'Disturbance observer assisted robust control of wing rock motion based on contraction theory'. Together they form a unique fingerprint.

Cite this