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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ya-Jun Pan Marquez, H.J. Tongwen Chen |
| Copyright Year | 2005 |
| Description | Author affiliation: Dept. of Mech. Eng., Dalhousie Univ., Halifax, NS, Canada (Ya-Jun Pan) |
| Abstract | This paper proposes a robust output feedback controller for a class of nonlinear systems to track a desired trajectory. Our main goal is to ensure the global input-to-state (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. Our approach consists of constructing a nonlinear observer to reconstruct the unavailable states, and then designing a discontinuous controller using a back-stepping like design procedure to ensure the ISS property. The observer design is realized through state transformation and there is only one parameter to be determined. Through solving a Hamilton-Jacoby inequality, the nonlinear control law for the first subsystem specifies a nonlinear switching surface. By virtue of nonlinear control for the first subsystem, the resulting sliding manifold in the sliding phase possesses the desired ISS property and to certain extent the optimality. Associated with the new switching surface, the sliding mode control is applied to the second subsystem to accomplish the tracking task. As a result the tracking error is bounded and the ISS property of the whole system can be ensured while the internal stability is also achieved. Finally, an example is presented to show the effectiveness of the proposed scheme. |
| Sponsorship | American Automatic Control Council |
| Starting Page | 4868 |
| Ending Page | 4873 |
| File Size | 435860 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780390989 |
| ISSN | 07431619 |
| e-ISBN | 0780390997 |
| DOI | 10.1109/ACC.2005.1470766 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-06-08 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Robust control Output feedback Nonlinear control systems Control systems MIMO Nonlinear systems Sliding mode control Trajectory Nonlinear dynamical systems Uncertainty |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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