Disturbance compensation based asymptotic tracking control for nonlinear systems with mismatched modeling uncertainties

In order to acquire high-performance tracking control for a class of nonlinear systems with matched and mismatched modeling uncertainties, a disturbance-compensation-based nonlinear robust controller with a continuous control law is integrated via a novel asymptotic-filter-based backstepping approach. Specially, a set of novel asymptotic disturbance observers with exact estimation performance is constructed to estimate matched and mismatched total disturbances respectively in real time. Moreover, the integrated control algorithm just needs the state measurements only and does not require any internal dynamics and other physical parameter information generally. Furthermore, only the first derivative of the command to be tracked is demanded. It is noted that asymptotic output tracking performance under the closed-loop operation can be achieved. Finally, the whole closed-loop stability is proven strictly via the Lyapunov theoretical analysis and the feasibility of the integrated controller is demonstrated by contrastive application results.