Disturbance Observer-Based Adaptive Tracking Control With Actuator Saturation and Its Application


This paper is concerned with the problem of adaptive tracking control for a category of nonlinear systems with parametric uncertainty, bounded external disturbance, and actuator saturation. So as to achieve robust output tracking for the saturated unsure nonlinear systems, a mix of adaptive robust control (ARC) and a novel terminal sliding-mode-based nonlinear disturbance observer (TSDO) is proposed, where the modeling inaccuracy and disturbance are integrated as a lumped disturbance. Specifically, the observer errors of estimating the lump disturbances converge to zero in finite-time for improving the precision of estimation. The estimated disturbances are then utilized in the controller to make amends for the system’s lumped disturbances. The analytical results show that the proposed scheme is stable and can guarantee the asymptotic tracking with the tracking error converging to zero even within the presence of disturbances. Finally, the developed technique is illustrated the effectiveness by the applying to manage of a quarter-automobile model with active suspension system.

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