Adaptive output feedback tracking with almost disturbance decoupling for a class of nonlinear systems (Q5926191)

The authors improve the output feedback almost disturbance decoupling controls designed by \textit{R.~Marino} and \textit{P.~Tomei} [Nonlinear output feedback tracking with almost disturbance decoupling, IEEE Trans. Autom. Control 44, 18-28 (1999)] for the class of single-input, single-output uncertain nonlinear systems, affected both by uncertain constant parameters (with known bounds) and unknown time-varying bounded disturbances, by adding an adaptive part so that asymptotic tracking is achieved in the presence of constant parameters with known bounds and bounded square integrable disturbances. The adaptive part involves reduced order observer dynamics, parameter estimation dynamics with projection and auxiliary signals generated by output filters. The almost disturbance decoupling property and the input-to-state stability property of the error system with respect to disturbances and parameter estimation errors are guaranteed in any case, even when adaptation is turned off and parameter estimates are kept constant. The resulting controller may also be viewed as an adaptive control which is robust with respect to bounded disturbances or time-varying parameters.