Adaptive control and almost disturbance decoupling for uncertain HOFA nonlinear systems
Na Wang, Xiaoping Liu, Cungen Liu, Huanqing Wang, Yucheng Zhou
Abstract
Summary In this paper, the problem of adaptive stability control for uncertain high‐order fully actuated (HOFA) nonlinear systems with disturbances is solved. The method of almost disturbance decoupling (ADD) is used to cope with unknown disturbances. Meanwhile, the tuning function is applied to design an adaptive update law. According to the full‐actuation feature of HOFA systems and Lyapunov stability theory, a novel adaptive controller is designed. In the end, the effectiveness of the control strategy is validated by a numerical simulation example and the attitude control of a spacecraft.
Topics & Concepts
Control theory (sociology)Decoupling (probability)Nonlinear systemAdaptive controlLyapunov functionComputer scienceDisturbance (geology)Lyapunov stabilityControl engineeringController (irrigation)Stability (learning theory)Control (management)EngineeringArtificial intelligencePhysicsPaleontologyBiologyQuantum mechanicsMachine learningAgronomyAdaptive Control of Nonlinear SystemsStability and Control of Uncertain SystemsAdvanced Control Systems Optimization