A characteristic model-based anti-disturbance intelligent adaptive control law for systems with multiple disturbances

The control systems of practical engineering generally have complicated structures and high-order dynamic models, which poses great challenges to the low-order controller design. One effective way to deal with this difficulty is to establish the characteristic model (CM) of control system. However, the unmodeled dynamics may still exist in the established CM. Moreover, the other disturbances, for example, the actuator deviation, widely exist in practical control systems. As a result, the existing multiple disturbances will degrade the system control performances severely. Therefore, to deal with the multiple disturbances, this paper proposes a low-order composite hierarchical anti-disturbance control law by combing the CM-based intelligent adaptive control (CMBIAC) with disturbance observer-based control (DOBC) for the first time. The proposed controller is easy to implement due to its simple structure and enhanced anti-disturbance capability. Finally, numerical simulation of a micro flexible spacecraft is conducted to verify the effectiveness of proposed methods.