GPIO-Based Predictive Control for Nonlinear Fully Actuated Systems Under Lumped Disturbances

By means of a fully actuated system (FAS) approach, this article is concerned with an anti-disturbance tracking control problem toward a class of lumped disturbances containing the model uncertainties and external disturbances. A FAS predictive control with a generalized proportional-integral observer (GPIO) is presented to address this problem. Concretely, a FAS model of discrete-time nonlinear systems with the lumped disturbances is firstly given as a control-oriented one. Then, a GPIO is developed to achieve an accurate estimation for the lumped disturbances by adopting a less conservative disturbance assumption, which provides a better foundation to construct a disturbance preview. Furthermore, an incremental FAS (IFAS) prediction model with a disturbance preview is constructed by utilizing a new type of Diophantine Equation. Dependent on this IFAS prediction model, the multistep ahead predictions can be obtained to minimize an objective function to yield an optimal anti-disturbance controller, such that the desired tracking performance can be guaranteed. The depth analysis derives a sufficient condition for the bounded stability and tracking performance of the closed-loop FASs. The proposed GPIO-based FAS predictive control provides a solution to the spacecraft attitude control for verifying the feasibility.