Homogeneous Active Disturbance Attenuation for a Perturbed Chain of Integrators

Motivated by the homogeneous system theory and its facility in nonlinear control design, a global homogeneous active anti-disturbance method for a class of higher-order nonlinear systems subject to mismatched disturbances is investigated in this paper. Utilizing the flexibility of disturbance soft-estimations with active elimination of the adverse effects caused by disturbances, a homogeneous domination feedback technique is integrated such that a general composite active anti-disturbance control framework is proposed. With a delicate recursive handling procedure of the non-vanishing nonlinearities, the mismatched disturbances are compensated in a novel step-by-step way. A rigorous stability analysis assures the effectiveness of the proposed strategy. Numerical simulation results affirm the control and disturbance rejection performances.