In order to acquire high‐performance tracking control for a class of nonlinear systems with matched and mismatched modeling uncertainties, a disturbance‐compensation‐based nonlinear robust controller with a continuous control law is integrated via a novel asymptotic‐filter‐based backstepping approach. Specially, a set of novel asymptotic disturbance observers with exact estimation performance is constructed to estimate matched and mismatched total disturbances respectively in real time. Moreover, the integrated control algorithm just needs the state measurements only and does not require any internal dynamics and other physical parameter information generally. Furthermore, only the first derivative of the command to be tracked is demanded. It is noted that asymptotic output tracking performance under the closed‐loop operation can be achieved. Finally, the whole closed‐loop stability is proven strictly via the Lyapunov theoretical analysis and the feasibility of the integrated controller is demonstrated by contrastive application results.

中文翻译：

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建模不匹配的非线性系统基于扰动补偿的渐近跟踪控制

为了获得具有匹配和不匹配建模不确定性的一类非线性系统的高性能跟踪控制，通过一种新颖的基于渐近滤波器的反推方法，集成了具有连续控制律的基于扰动补偿的非线性鲁棒控制器。特别地，构造了一组具有精确估计性能的新型渐近扰动观测器，以分别实时估计匹配和不匹配的总扰动。此外，集成控制算法仅需要状态测量，通常不需要任何内部动力学和其他物理参数信息。此外，仅要求要跟踪的命令的一阶导数。注意，可以在闭环操作下实现渐近输出跟踪性能。