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

• 作者: WANG Na LIU Xiaoping LIU Cungen WANG Huanqing ZHOU Yucheng
• 来源期刊: 系统科学与复杂性学报（英文版）
• 年，卷（期）: 2022,（2）
• 页码范围: 481-501
• 页数: 21页
• 语种: 英文
• DOI: 10.1007/s11424-022-2017-4

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.