一类非线性严格反馈系统基于干扰观测器的抗干扰控制

针对一类带有干扰的非线性严格反馈系统, 研究其抗干扰控制问题. 系统干扰满足不匹配条件, 代表一类部分信息已知的干扰. 通过设计非线性干扰观测器, 提出基于非线性干扰观测器和back-stepping 的抗干扰控制方法来补偿干扰, 该方法可以保证闭环系统所有信号是半全局最终一致有界的. 最后, 通过与现有方法的对比验证了所提出方法的正确性和有效性.

Anti-disturbance control based on disturbance observer for a class of nonlinear strict-feedback systems

Anti-disturbance control problem is studied for a class of nonlinear strict-feedback systems with disturbances. The system disturbances satisfy mismatched condition and represent a class of disturbances with partially-known information. By designing a nonlinear disturbance observer, the nonlinear disturbance observer plus back-stepping(NDOPBS) control strategy is proposed to compensate the disturbances. It is proved that all the signals in the closed-loop system are semi-global uniformly ultimate bounded(SGUUB). Finally, the numerical simulation result demonstrates the correctness and effectiveness of the proposed approach by the comparison with existing methods.