2020•Transactions of the Institute of Measurement and ControlRequires access

Disturbance observer-based control for a class of strict-feedback nonlinear systems with derivative-bounded disturbances

Huifeng Zhang, Xinjiang Wei, Lingyan Zhang, Jian Han

Abstract

An anti-disturbance control problem is investigated in this paper. The disturbance observer plus back-stepping (DOPBS) control scheme is proposed for a class of strict-feedback nonlinear systems with derivative-bounded disturbances. A nonlinear disturbance observer is designed to estimate the derivative-bounded disturbances. By combining the disturbance observer with back-stepping method, the DOPBS controller is designed to reject and attenuate the disturbances. Stability analysis proves that all the signals in the the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation examples demonstrate the feasibility and effectiveness of the proposed approach compared with existing methods.

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Key concepts: Control theory (sociology), Bounded function, Nonlinear system, Disturbance (geology), Mathematics, Controller (irrigation), Observer (physics), Stability (learning theory)