Disturbance Rejection for Systems with Uncertainties Based on Fixed-Time Equivalent-Input-Disturbance Approach

Abstract

This paper presents a fixed-time equivalent-input-disturbance (EID) approach to deal with the problem of robust output-feedback control for perturbed uncertain systems. This method uses the basic structure of the conventional EID approach and treats uncertainties and disturbances as a lumped disturbance on the control-input channel. A fixed-time state observer enables state estimation, which resolves the causality issue in an EID-based control system, is finished in a fixed time. An implicit Lyapunov function, the homogeneity with dilation, the input-to-state stability, and the small-gain theorem are used to analyze the convergence and robustness of the EID-based system with measurement noise. Numerical and experimental results are presented to demonstrate the effectiveness and superiority of the proposed method.