Disturbance Observer-Based Adaptive Tracking Control with Actuator Saturation and Its Application

Huihui Pan, Weichao Sun, Huijun Gao, Xingjian Jing

Research output: Journal article publicationJournal articleAcademic researchpeer-review

148 Citations (Scopus)


This paper is concerned with the problem of adaptive tracking control for a class of nonlinear systems with parametric uncertainty, bounded external disturbance, and actuator saturation. In order to achieve robust output tracking for the saturated uncertain nonlinear systems, a combination of adaptive robust control (ARC) and a novel terminal sliding-mode-based nonlinear disturbance observer (TSDO) is proposed, where the modeling inaccuracy and disturbance are integrated as a lumped disturbance. Specifically, the observer errors of estimating the lump disturbances converge to zero in finite-time for improving the precision of estimation. The estimated disturbances are then used in the controller to compensate for the system's lumped disturbances. The analytical results show that the proposed scheme is stable and can guarantee the asymptotic tracking with the tracking error converging to zero even in the presence of disturbances. Finally, the developed method is illustrated the effectiveness by the application to control of a quarter-car model with active suspension system.
Original languageEnglish
Article number7079506
Pages (from-to)868-875
Number of pages8
JournalIEEE Transactions on Automation Science and Engineering
Issue number2
Publication statusPublished - 1 Apr 2016


  • active suspension systems
  • Adaptive robust control
  • disturbance observer
  • saturation nonlinearity

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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