The article is devoted to the almost disturbance decoupling problem for high-order fully actuated(HOFA)nonlinear systems with strict-feedback form.Using the full-actuation feature of high-order fully actuated systems ...The article is devoted to the almost disturbance decoupling problem for high-order fully actuated(HOFA)nonlinear systems with strict-feedback form.Using the full-actuation feature of high-order fully actuated systems and Lyapunov stability theory,a state feedback control law and virtual control laws are designed.The unknown disturbances are handled by almost disturbance decoupling(ADD)method.Finally,the effectiveness of the control strategy is verified by stability analysis and simulation.展开更多
For a class of SISO nonlinear control systems with parameter uncertainty an almost disturbance decoupling problem with stability is defined and investigated. Back stepping technique provides a practical design method ...For a class of SISO nonlinear control systems with parameter uncertainty an almost disturbance decoupling problem with stability is defined and investigated. Back stepping technique provides a practical design method of controller, under which the $L<sub>2</sub>$ gain from the disturbance to the controlled output can be arbitrarily small subject to nonlinear uncertainties and the close-loop system is internally asymptotically stable.展开更多
The problem of almost disturbance decoupling (ADD) with internal stability is discussed, for a class of high_order cascade nonlinear systems having zero dynamics. Using adding power integrator techniques, the ADD prob...The problem of almost disturbance decoupling (ADD) with internal stability is discussed, for a class of high_order cascade nonlinear systems having zero dynamics. Using adding power integrator techniques, the ADD problems via a smooth static state feedback is solved.展开更多
基金This research was supported by the Taishan Scholar Project of Shandong Province of China under Grant Nos.2015162 and tsqn201812093.
文摘The article is devoted to the almost disturbance decoupling problem for high-order fully actuated(HOFA)nonlinear systems with strict-feedback form.Using the full-actuation feature of high-order fully actuated systems and Lyapunov stability theory,a state feedback control law and virtual control laws are designed.The unknown disturbances are handled by almost disturbance decoupling(ADD)method.Finally,the effectiveness of the control strategy is verified by stability analysis and simulation.
基金This research is supportedby the Chinese Doctoral Foundation and the Natural Science Foundation of China.
文摘For a class of SISO nonlinear control systems with parameter uncertainty an almost disturbance decoupling problem with stability is defined and investigated. Back stepping technique provides a practical design method of controller, under which the $L<sub>2</sub>$ gain from the disturbance to the controlled output can be arbitrarily small subject to nonlinear uncertainties and the close-loop system is internally asymptotically stable.
文摘The problem of almost disturbance decoupling (ADD) with internal stability is discussed, for a class of high_order cascade nonlinear systems having zero dynamics. Using adding power integrator techniques, the ADD problems via a smooth static state feedback is solved.
