A nonsmooth composite control design framework for nonlinear systems with mismatched disturbances : algorithms and experimental tests

• Main Authors: Zhang, Chuanlin, Yan, Yunda, Wen, Changyun, Yang, Jun, Yu, Haoyong
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Disturbance Observer; Nonrecursive Synthesis Approach
• Online Access: https://hdl.handle.net/10356/140069
• Institution: Nanyang Technological University

In this paper, a nonsmooth composite control design methodology is investigated to tackle the exact tracking control problem for a general class of nonlinear systems with mismatched disturbances. By first introducing a saturated homogeneous disturbance observer to realize a finite-time performance r...