Composite adaptive anti-disturbance control for MIMO nonlinearly parameterized systems with mismatched general periodic disturbances |
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Authors: | Haibin Sun Linlin Hou Guangdeng Zong Lei Guo |
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Affiliation: | 1. School of Engineering, Qufu Normal University, Rizhao, China;2. School of Information Science and Engineering, Qufu Normal University, Rizhao, China;3. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China |
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Abstract: | In this paper, the problem of anti-disturbance control for a class of multi-input and multi-output (MIMO) nonlinearly parameterized systems with mismatched general periodic disturbances is investigated via a composite adaptive anti-disturbance control scheme. The composite adaptive anti-disturbance control method is presented by using disturbance observer technique, back-stepping method and adaptive control approach. A novel disturbance observer is designed to estimate the disturbances generated by a linear system with nonlinear output function. Rigorous stability analysis for the augmented closed-loop system is developed by direct Lyapunov stability theory. It is shown that the system outputs asymptotically converge to zero in the presence of mismatched general periodic disturbances. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method. |
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Keywords: | MIMO system mismatched disturbances general periodic disturbances disturbance observer-based control back-stepping adaptive control |
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