Almost Disturbance Decoupling for HOFA Nonlinear Systems with Strict-Feedback Form  

作　　者：WANG Na LIU Xiaoping LIU Cungen WANG Huanqing ZHOU Yucheng 

机构地区：[1]School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China [2]Faculty of Engineering,Lakehead University,Thunder Bay,ON P7B 5E1,Canada [3]The Department of Mathematics,Bohai University,Jinzhou 121013,China

出　　处：《Journal of Systems Science & Complexity》2022年第2期481-501,共21页系统科学与复杂性学报（英文版）

基　　金：This research was supported by the Taishan Scholar Project of Shandong Province of China under Grant Nos.2015162 and tsqn201812093.

摘　　要：The article is devoted to the almost disturbance decoupling problem for high-order fully actuated(HOFA)nonlinear systems with strict-feedback form.Using the full-actuation feature of high-order fully actuated systems and Lyapunov stability theory,a state feedback control law and virtual control laws are designed.The unknown disturbances are handled by almost disturbance decoupling(ADD)method.Finally,the effectiveness of the control strategy is verified by stability analysis and simulation.

关 键 词：Almost disturbance decoupling high-order fully actuated systems strict-feedback systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]