Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators

Du, Guangyue; Wang, Na; Liu, Xiaoping; Pan, Weigang

doi:10.3390/act15060325

This is an early access version, the complete PDF, HTML, and XML versions will be available soon.

Open AccessArticle

Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators

¹

School of Rail Transportation, Shandong Jiaotong University, Jinan 250357, China

²

The Faculty of Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada

³

College of Information Science and Engineering, Henan University of Technology, Zhengzhou 450044, China

^*

Author to whom correspondence should be addressed.

Actuators 2026, 15(6), 325; https://doi.org/10.3390/act15060325

Submission received: 29 March 2026 / Revised: 13 May 2026 / Accepted: 4 June 2026 / Published: 7 June 2026

(This article belongs to the Special Issue Active Disturbance Rejection Control: Theory, Design, and Applications in Advanced Actuation Systems)

Download Versions Notes

Abstract

All real control systems are subject to uncertainties and disturbances, so feedback controllers have to be designed such that closed-loop systems possess the desired dynamic and steady-state responses in the presence of any allowable uncertainties and disturbances. It is common practice to address the effects of uncertainties and disturbances via bounding techniques and the almost disturbance decoupling approach, respectively. Linear, affine, and power growth conditions on uncertainties are required for almost disturbance decoupling. However, when these conditions are not satisfied, almost disturbance decoupling is not possible. A new concept called weak disturbance decoupling is introduced to mitigate the effects of disturbances. A weak disturbance decoupling problem is to find a feedback controller so that the close-loop system has the weak disturbance decoupling performance, that is, the closed-loop system is stable and the norm of the output is not greater than the sum of a positive constant and the product of the norm of the disturbance and a positive constant.

Keywords: weak disturbance decoupling; adaptive control; strict-feedback-like systems; manipulators

Share and Cite

MDPI and ACS Style

Du, G.; Wang, N.; Liu, X.; Pan, W. Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators. Actuators 2026, 15, 325. https://doi.org/10.3390/act15060325

AMA Style

Du G, Wang N, Liu X, Pan W. Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators. Actuators. 2026; 15(6):325. https://doi.org/10.3390/act15060325

Chicago/Turabian Style

Du, Guangyue, Na Wang, Xiaoping Liu, and Weigang Pan. 2026. "Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators" Actuators 15, no. 6: 325. https://doi.org/10.3390/act15060325

APA Style

Du, G., Wang, N., Liu, X., & Pan, W. (2026). Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators. Actuators, 15(6), 325. https://doi.org/10.3390/act15060325

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Menu

Weak Disturbance Decoupling for Strict Feedback-like Systems with Unknown Nonlinearities and Its Application in Manipulators

Abstract

Share and Cite

Article Metrics

Article Access Statistics

Further Information

Guidelines

MDPI Initiatives

Follow MDPI