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    This study introduces a fully actuated system (FAS) predictive control using a generalized proportional-integral observer (GPIO) to manage lumped disturbances in nonlinear systems. The method ensures robust tracking performance and stability, demonstrated through spacecraft attitude control.

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    Area of Science:

    • Control Systems Engineering
    • Nonlinear System Dynamics
    • Robotics and Automation

    Background:

    • Lumped disturbances, encompassing model uncertainties and external factors, pose significant challenges in controlling nonlinear systems.
    • Existing control strategies often struggle with accurate disturbance estimation and prediction, limiting tracking performance.
    • Fully Actuated System (FAS) approaches offer potential for enhanced control but require robust disturbance rejection mechanisms.

    Purpose of the Study:

    • To develop an anti-disturbance tracking control strategy for nonlinear systems subject to lumped disturbances.
    • To present a novel Fully Actuated System (FAS) predictive control framework integrated with a Generalized Proportional-Integral Observer (GPIO).
    • To ensure bounded stability and guarantee desired tracking performance in the presence of uncertainties and external disturbances.

    Main Methods:

    • A control-oriented, discrete-time nonlinear system model within the FAS framework was formulated.
    • A Generalized Proportional-Integral Observer (GPIO) was designed for accurate lumped disturbance estimation using a less conservative assumption.
    • An Incremental FAS (IFAS) prediction model incorporating disturbance preview via a novel Diophantine Equation was constructed.

    Main Results:

    • The GPIO achieved accurate estimation of lumped disturbances, enabling effective disturbance preview.
    • The IFAS prediction model facilitated multi-step ahead predictions for optimal controller design.
    • Sufficient conditions for bounded stability and tracking performance of the closed-loop FAS were rigorously derived.

    Conclusions:

    • The proposed GPIO-based FAS predictive control effectively addresses anti-disturbance tracking control problems in nonlinear systems.
    • The developed method provides a feasible and robust solution, validated by its application to spacecraft attitude control.
    • This approach enhances control system resilience against model uncertainties and external disturbances.