Adaptive regulation with almost disturbance decoupling for nonlinearly parameterized systems with control coefficients

摘要

The problem of almost disturbance decoupling (ADD) for a class of inherently nonlinear systems with nonlinear parameterization is considered. The controlled systems are beyond triangular form and possess uncontrollable linearization. The performance of ADD is characterized in terms of L2 -L2p. By using the tool of adding a power integrator combined with the parameter separation technique, under a set of growth conditions a smooth one-dimensional adaptive controller is explicitly constructed to attenuate the influence of the disturbance on the output with an arbitrary degree of accuracy.