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<p>Recent several years have witnessed rapid development of the fully actuated system (FAS) approach proposed by Duan in 2020–2021, which considerably facilitates the controller design in comparison with the traditional state-space approach. In this paper, based on high-order system models, the concept of fully observed systems (FOSs) is first proposed as a complementary and dual one of FASs. Then, aiming at a representative class of nonlinear FOSs with multiple heterogenous disturbances, a composite disturbance filtering (CDF) scheme with disturbance compensation and attenuation capabilities is presented. Furthermore, an integrative design of CDF and full actuation control is proposed, which builds bridges among the FAS approach, the composite hierarchical anti-disturbance control, and the CDF. It is proven that the integrative design achieves not only high-precision estimation but also high-precision control and all signals of the resulting closed-loop system are globally uniformly bounded. The effectiveness of the theoretical results is illustrated by numeric simulation and hardware-in-the-loop experiments.</p>

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Composite disturbance filtering and full actuation control for fully observed systems

  • 期刊论文

  • 发表日期：

    2025年3月20日

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  • Chenliang Wang,
  • Zhihui Wang,
  • Wenshuo Li,
  • Aiguo Wu,
  • Lei Guo

摘要

Recent several years have witnessed rapid development of the fully actuated system (FAS) approach proposed by Duan in 2020–2021, which considerably facilitates the controller design in comparison with the traditional state-space approach. In this paper, based on high-order system models, the concept of fully observed systems (FOSs) is first proposed as a complementary and dual one of FASs. Then, aiming at a representative class of nonlinear FOSs with multiple heterogenous disturbances, a composite disturbance filtering (CDF) scheme with disturbance compensation and attenuation capabilities is presented. Furthermore, an integrative design of CDF and full actuation control is proposed, which builds bridges among the FAS approach, the composite hierarchical anti-disturbance control, and the CDF. It is proven that the integrative design achieves not only high-precision estimation but also high-precision control and all signals of the resulting closed-loop system are globally uniformly bounded. The effectiveness of the theoretical results is illustrated by numeric simulation and hardware-in-the-loop experiments.