Anti-disturbance predictive tracking control for disturbed nonlinear fully actuated systems
ZHANG Da-wei
LIU Guo-ping
WANG Li-min
Abstract：This paper considers a tracking control problem for a type of discrete-time nonlinear fully actuated systems with external disturbances.A fully actuated system(FAS)anti-disturbance predictive control method is proposed to address this problem.Firstly,a high-order disturbance observer is designed by adopting a difference operator and its high-order form to accurately estimate the external disturbances under a less conservatism assumption,which provides a better foundation to construct a disturbance preview.Secondly,an incremental FAS(IFAS)prediction model with the disturbance preview is established by utilizing a Diophantine Equation.Based on this IFAS prediction model,the multistep ahead predictions are derived to minimize an objective function for obtaining an optimal anti-disturbance controller,such that the tracking performance can be maintained.Then,a sufficient condition is presented to analyze the bounded stability and tracking performance of the closed-loop FASs in the further discussion.Finally,the proposed FAS anti-disturbance predictive control provides a solution to spacecraft attitude control for the verification of effectiveness.
Keywords：nonlinear fully actuated systemsexternal disturbanceshigh-order disturbance observeranti-disturbance controlFAS predictive controlstability and tracking performance
Publication Date：2025-12-30
Online Publishing Date：2026-03-05(First online date of this platform, not the publication date of the document)
Pages：10( 2439-2448 )