A homogeneous active disturbance attenuation methodology for a perturbed chain of power integrators

The problem of global active disturbance attenuation control for a class of perturbed chain of power integrators is investigated in this paper. A homogeneous design method is developed by integrating the homogeneous system theory with a nonlinear disturbance observation/compensation procedure. With a novel recursive design approach, the mismatched disturbances are compensated in a step-by-step way while the nominal system can be feedback controlled by nested virtual controllers. A rigorous homogeneous stability analysis assures the effectiveness of the proposed strategy. A numerical simulation and an application to an under-actuated mechanical system affirm the control performances.