Chattering-free robust finite-time output feedback control scheme for a class of uncertain non-linear systems
In this study, an innovative technique to design an observer-based finite-time output feedback controller (FT-OFC) is proposed for a class of non-linear systems. This controller aims to make the state variables converge to a small bound around the origin in a finite time. The main innovation of this...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2020 |
| País: | España |
| Institución: | Universitat Autònoma de Barcelona |
| Repositorio: | Dipòsit Digital de Documents de la UAB |
| Idioma: | inglés |
| OAI Identifier: | oai:ddd.uab.cat:321691 |
| Acceso en línea: | https://ddd.uab.cat/record/321691 https://dx.doi.org/urn:doi:10.1049/iet-cta.2020.0910 |
| Access Level: | acceso abierto |
| Palabra clave: | Linear systems Adaptive control Observers Robust control Uncertain systems Time-varying systems Stability Variable structure systems Lyapunov methods Closed loop systems Asymptotic stability Control system synthesis Feedback Nonlinear control systems Chattering-free robust finite-time output feedback control scheme Nonlinear system Observer-based finite-time output feedback controller Time-varying form Finite-time boundedness criteria System uncertainties Novel time-varying extended state observer Time-varying gains Observer-based time-varying control law Disturbed double integrator system |
| Sumario: | In this study, an innovative technique to design an observer-based finite-time output feedback controller (FT-OFC) is proposed for a class of non-linear systems. This controller aims to make the state variables converge to a small bound around the origin in a finite time. The main innovation of this study is to transform the non-linear system into a new time-varying form to achieve the finite-time boundedness criteria using the asymptotic stability methods. Moreover, without any prior knowledge of the upper bounds of the system uncertainties and/or disturbances, and only based on the output measurements, a novel time-varying extended state observer is designed to estimate the states of the non-linear system as well as the uncertainties and disturbances in a finite time. In this way, the time-varying gains of the extended state observer are designed to converge the observation error to a neighbourhood of zero while remaining uniformly bounded in finite time. Subsequently, an observer-based time-varying control law is designed to make the system globally uniformly bounded in finite time. Finally, the efficiency of the proposed FT-OFC for a disturbed double integrator system with unknown measurement noise is illustrated by numerical simulations. |
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