Adaptive tracking control for nonaffine nonlinear system with high-order disturbances
SUN Hai-bin
ZONG Guang-deng
HOU Lin-lin
Abstract：In this paper, the problem of adaptive tracking control is investigated for nonaffine nonlinear system with high-order disturbances and unknown parameters. In order to enhance the anti-disturbance performance of system, firstly, a high-order observer is designed to estimate the unknown disturbances, and the disturbance estimate value is introduced into controller. Secondly, in order to avoid the"explosion of complexity"problem, a sliding mode differentiator is introduced in each step and a novel adaptive control scheme is proposed. It is proven that the closed-loop system is stable and all signals in the closed-loop system is uniformly ultimately boundedness via Lyapunov function theory. Finally, a MATLAB simulation is employed to demonstrate the effectiveness of the proposed method.
Keywords：nonaffine nonlinear systemhigh-order disturbancessliding mode differentiatorobserveradaptive control
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1321-1327 )