Output feedback robust stabilisation for uncertain non‐linear systems with dead‐zone input. Issue 14 (20th July 2020) - Jia, Xianglei
Abstract : This study considers the output feedback robust stabilisation problem of non‐linear systems with actuator non‐symmetric dead zone and uncertain non‐linearities including unmeasured states. Instead of constructing the dead‐zone inverse, a robust control scheme is proposed. In particular, an input‐driven observer is constructed, which uses the scaling gain to dominate non‐linear terms. Based on non‐separation principle and backstepping method, a time‐varying and smooth output feedback controller is obtained to ensure that the resulting closed‐loop systems are globally asymptotically stable. Also, the control scheme is generalised to more general non‐linear systems in a lower triangular form. Finally, two examples are given to illustrate the effectiveness of the authors' results.