Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances

摘要

An uncertain net feedback system control device with unmatched disturbance is provided. A control device of a ViaPin nonlinear system of uncertain net feedback with unmatched disturbances may be used for a ViaPin nonlinear system of uncertain net feedback with unmatched disturbances; A function approximator for approximating the input of the via pin nonlinear system; An approximation based nonlinear disturbance observer (NDO) for observing the disturbance of the via pin nonlinear system; And a controller for calculating a control input of the via pin nonlinear system based on an approximate value of the function approximator and an estimated disturbance of the nonlinear disturbance observer; , And the via pin nonlinear system can be designed using Equation (1) below. [Equation 1] here About Is a state variable vector, Is the control input of the system, Is the system output, About The Unmatched disturbance for And the disturbance matched , / RTI About The Non-matching adult / RTI Unknown Via pin is a nonlinear function.