Almost Disturbance Decoupling Control Strategy for a Class of Underactuated Nonlinear Systems with Disturbances

This paper introduces an almost disturbance decoupling approach to address the disturbance problem for a class of underactuated nonlinear systems. First, a residual system is constructed using a virtual controller and partial differential equations. Next, the unknown disturbances are addressed using...

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Bibliographic Details
Published in:	Actuators
Main Authors:	Renhan Wu, Xiaoping Liu, Tianfei Chen, Lijun Sun, Na Wang
Format:	Article
Language:	English
Published:	MDPI AG 2025-01-01
Subjects:	almost disturbance decoupling backstepping underactuated nonlinear systems Lyapunov’s theorem
Online Access:	https://www.mdpi.com/2076-0825/14/2/56

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