The Weak Disturbance Decoupling Problem for Nonlinear Systems with Unmodeled Dynamics and Disturbances and Its Application on Manipulators

This article considers a weak disturbance decoupling control problem for strict-feedback systems with unmodeled dynamics and disturbances. Utilizing a series of inequalities, the unmodeled dynamic is approximated. Using an adaptive backstepping control method, a weak disturbance decoupling controller is constructed to stabilize the closed-loop system. The primary objective of this paper is to design an adaptive controller that effectively attenuates the impact of disturbances in scenarios where such disturbances are present, while ensuring the bounded stability of system states in the absence of disturbances. Simulation and experiment results are presented to verify the effectiveness of the proposed weak disturbance decoupling strategy.