Adaptive control and almost disturbance decoupling for uncertain HOFA nonlinear systems

In this paper, the problem of adaptive stability control for uncertain high-order fully actuated (HOFA) nonlinear systems with disturbances is solved. The method of almost disturbance decoupling (ADD) is used to cope with unknown disturbances. Meanwhile, the tuning function is applied to design an adaptive update law. According to the full-actuation feature of HOFA systems and Lyapunov stability theory, a novel adaptive controller is designed. In the end, the effectiveness of the control strategy is validated by a numerical simulation example and the attitude control of a spacecraft.

Automated summary

In this paper, the problem of adaptive stability control for uncertain high-order fully actuated (HOFA) nonlinear systems with disturbances is solved. The method of almost disturbance decoupling (ADD) is used to cope with unknown disturbances, while the tuning function is applied to design an adaptive update law. A novel adaptive controller is designed based on the full-actuation feature of HOFA systems and Lyapunov stability theory. The effectiveness of the control strategy is validated through a numerical simulation example and spacecraft attitude control.