Disturbance-observer-based adaptive command filtered control for uncertain nonlinear systems

Xiaowei Yang; Wenxiang Deng; Jianyong Yao

doi:10.1016/j.isatra.2022.04.007

Disturbance-observer-based adaptive command filtered control for uncertain nonlinear systems

ISA Trans. 2022 Nov:130:490-499. doi: 10.1016/j.isatra.2022.04.007. Epub 2022 Apr 6.

Authors

Xiaowei Yang¹, Wenxiang Deng², Jianyong Yao³

Affiliations

¹ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: xwyang_njust@163.com.
² School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: wxdeng_njust@163.com.
³ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: jerryyao.buaa@gmail.com.

PMID: 35450729
DOI: 10.1016/j.isatra.2022.04.007

Abstract

This article proposes an asymptotic adaptive command filtered control approach for uncertain nonlinear systems with parametric uncertainties, mismatched and matched disturbances. To accomplish the task, a disturbance observer (DO) only with one tuning parameter is firstly used to attain the disturbance compensation. The parameter uncertainties can be addressed via composite updated laws. Then, by judiciously combining DO, adaptive control and command filter technique, a novel command filtered controller with adaptive-gain auxiliary systems is developed to attain asymptotic tracking and shun "explosion of complexity". The system stability is proved by utilizing the Lyapunov function. Extensive experimental results uncover the preponderance of the exhibited strategy.

Keywords: Adaptive control; Command filter; Disturbance observer (DO); Mismatched and matched disturbances; Uncertain nonlinear system.