Search

A new anti-disturbance control scheme is proposed for a class of nonlinear systems subjected to multi-source disturbances. The uncertain multi-source disturbances are classified into two parts; one is the harmonic and constant disturbance with partial known information, which can be formulated by an exogenous system, and the other consists of unknown time-varying disturbances. The nonlinear disturbance observer (NDO) is constructed to estimate the first kind of disturbance. By integrating the NDO with an adaptive backstepping technique, a novel composite anti-disturbance control scheme is proposed for the nonlinear systems. Then the stability analysis of the closed-loop system is presented. The simulation of a numerical example is given to demonstrate the effectiveness of the proposed results. [ABSTRACT FROM AUTHOR]

A new elegant anti-disturbance control and estimation strategy is presented for a class of nonlinear systems subject to multiple disturbances. As a class of strong-coupled nonlinear systems, the models have measurement error, friction, varying load, and unmodelled dynamics, which can be characterized as two types of disturbances in this framework. One is supposed to be generated by an exogenous system with uncertainty, which represents the disturbance with partial known information. The other is a bounded external disturbance in the H2-norm. The nonlinear robust disturbance observer (DO) based on regional pole placement theory is constructed separately from the controller design to estimate and reject the first type of disturbance, and terminal sliding-mode (TSM) control is used to attenuate the second type of disturbance. By integrating the nonlinear robust DO with TSM control, a new elegant anti-disturbance control scheme based on a robust DO is proposed for a kind of nonlinear system, which can further improve the ability of anti-disturbance for nonlinear systems. Simulations are given to demonstrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]