Disturbance‐observer‐based output feedback control of non‐linear cascaded systems with external disturbance. Issue 6 (1st April 2018)

• Record Type: Journal Article
• Authors: Wu, Kang; Zhang, Zhongcai; Sun, Changyin
• Is Part Of: IET control theory & applications. Volume 12:Issue 6(2018)
• Page Start: 738
• Page End: 744
• Publication Date: 2018-04-01
• Subjects: observers -- nonlinear control systems -- uncertain systems -- cascade systems -- state feedback -- robust control -- reduced order systems -- asymptotic stability -- control nonlinearities -- linear matrix inequalities; disturbance‐observer‐based output feedback control -- nonlinear cascaded systems -- external disturbance -- output feedback robust controller -- integral input‐to‐state stable inverse dynamics -- nonlinear uncertain systems -- extended state observer -- system state estimation -- generalised state disturbance -- reduced‐order ESO -- error dynamic system -- global asymptotic regulation -- anti‐disturbance controller -- linear matrix inequality -- backstepping approach; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2017.0612
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : The output feedback robust controller is proposed for a class of non‐linear systems with integral input‐to‐state stable inverse dynamics and external disturbance. The investigated systems represent more general classes of non‐linear uncertain systems. An extended state observer (ESO) is designed to estimate both the system states and the external disturbance by use of the disturbance as a generalised state. Based on the given reduced‐order ESO, a new error dynamic system is constructed. The global asymptotic regulation is guaranteed under the presented anti‐disturbance controller by the combined approach of backstepping and linear matrix inequality. The simulation result demonstrates the effectiveness of the given algorithm.