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Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances
Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances
The present invention relates to a control device using a prediction-based disturbance observation approach method for adaptive tracking of an uncertain pure feedback system having an unmatched disturbance, which comprises: a non-affine nonlinear system of an uncertain pure feedback having an unmatched disturbance; a function approximator for approximating an input of the non-affine nonlinear system; an approximation-based nonlinear disturbance observer (NDO) for observing disturbance of the non-affine nonlinear system; and a controller for calculating a control input of the non-affine nonlinear system.
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