Robust Adaptive Control for a Class of Triangular Structural Nonlinear Systems with External Disturbances

摘要

In this paper, the robust adaptive control issue for a class of triangular structural nonlinear systems is studied. A disturbance observer is developed to estimate external disturbances. The dynamic surface control method is employed to tackle the computational complexity issue, and virtual/actual control laws are developed. The developed control laws can guarantee that the error between the system output and tracking signal arrives at a small neighborhood, and all the solutions of the closed-loop system are bounded. Finally, a simulation example is presented to verify the effectiveness of the developed control scheme for the plant with external disturbances.