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Razmjooei, Hamid; Shafiei, Mohammad Hossein; Palli, Gianluca; Ibeas, Asier

Chattering-free robust finite-time output feedback control scheme for a class of uncertain non-linear systems. (English) Zbl 1542.93127

IET Control Theory Appl. 14, No. 19, 3168-3178 (2020).
Summary: 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.
© 2020 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology

Cited in 4 Documents

MSC:

93B52 Feedback control
93B35 Sensitivity (robustness)
93C40 Adaptive control/observation systems
93D20 Asymptotic stability in control theory
93C10 Nonlinear systems in control theory

Keywords:

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
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References:

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