Composite adaptive anti-disturbance control for MIMO nonlinearly parameterized systems with mismatched general periodic disturbances

ABSTRACT

In this paper, the problem of anti-disturbance control for a class of multi-input and multi-output (MIMO) nonlinearly parameterized systems with mismatched general periodic disturbances is investigated via a composite adaptive anti-disturbance control scheme. The composite adaptive anti-disturbance control method is presented by using disturbance observer technique, back-stepping method and adaptive control approach. A novel disturbance observer is designed to estimate the disturbances generated by a linear system with nonlinear output function. Rigorous stability analysis for the augmented closed-loop system is developed by direct Lyapunov stability theory. It is shown that the system outputs asymptotically converge to zero in the presence of mismatched general periodic disturbances. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method.

KEYWORDS:

• MIMO system
• mismatched disturbances
• general periodic disturbances
• disturbance observer-based control
• back-stepping
• adaptive control

2000 AMS SUBJECT CLASSIFICATION:

• 34D20

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported in part by National Natural Science Foundation of China (Nos. 61403227,61320106010), part by Project supported by the Zhejiang Open Foundation of the Most Important Subjects, part by Natural Science Foundation of Shandong Province (Nos. ZR2016FQ09), part by the Taishan Scholar Project of Shandong Province, and experimental teaching reform project of Qufu Normal University(sj201416).