Equilibrium Compensation Based Control: A Universal Control Scheme for Systems With Mismatched Disturbances and Sensor Errors

There are significant couplings between control techniques and disturbance rejection techniques in traditional control schemes for systems with mismatched disturbances, such that both techniques have to be designed simultaneously. In this paper, independent of specific control methods, a universal disturbance rejection scheme named equilibrium compensation based control, is proposed for general systems to attenuate mismatched disturbances and sensor errors while retaining the nominal controller's performance. In addition, several criteria are provided to analyze the observability and compensability of the disturbances and sensor errors. Simulations and experiments of tracking tasks for a single-track-two-wheeled robot with four different controllers demonstrate the effectiveness of the proposed scheme.