Full-form model-free adaptive disturbance compensation control in the presence of unmeasurable disturbances

A method of full-form model-free adaptive disturbance compensation control in the presence of unmeasurable disturbances, executed on a hardware platform for controlling a controlled plant subject to unmeasurable disturbances, said controlled plant being a multi-input multi-output (MIMO) system with a predetermined number of control inputs and a predetermined number of system outputs, said method comprising:

• step 1:
• at time k, establishing a dynamic data model of said controlled plant subject to unmeasurable disturbances, wherein said dynamic data model is described by a pseudo Jacobian input matrix θθ(k) and a pseudo Jacobian disturbance matrix χ(k);
• step 2:
• constructing cost functions and solving optimization problems for said cost functions to find an optimal value of said pseudo Jacobian input matrix θ(k) in said step 1 and an optimal value of said pseudo Jacobian disturbance matrix χ(k) in said step 1;
• step 3:
• employing said dynamic data model described by said optimal value of said pseudo Jacobian input matrix θ(k) and said optimal value of said pseudo Jacobian disturbance matrix χ(k) in said step 2, designing a full-form model-free adaptive disturbance compensation control law in the presence of unmeasurable disturbances, wherein said control law comprising a full-form adaptive input matrix πf(k) and a full-form adaptive disturbance matrix ωf(k);
• step 4:
• constructing an energy function and solving said energy function by using a momentum gradient descent method to find an optimal value of said full-form adaptive input matrix πf(k) in said step 3 and an optimal value of said full-form adaptive disturbance matrix ωf(k) in said step 3;
• step 5:
• controlling said controlled plant by using said full-form model-free adaptive disturbance compensation control law in the presence of unmeasurable disturbances with said optimal value of full-form adaptive input matrix πf(k) and said optimal value of full-form adaptive disturbance matrix ωf(k) in said step 4, weakening the effect of unmeasurable disturbances on actual system outputs of said controlled plant, achieving effective tracking of desired system outputs of said controlled plant.