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Reduced‐order observer‐based output‐feedback tracking control of nonlinear systems with state delay and disturbance
Author(s) -
Zhang Zhengqiang,
Xu Shengyuan,
Shen Hao
Publication year - 2010
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1544
Subject(s) - control theory (sociology) , nonlinear system , bounded function , observer (physics) , computer science , state observer , tracking (education) , controller (irrigation) , state (computer science) , control (management) , output feedback , mathematics , algorithm , artificial intelligence , psychology , mathematical analysis , pedagogy , physics , quantum mechanics , agronomy , biology
In this paper, we investigate the problem of output‐feedback tracking control for a class of nonlinear SISO systems in the strick‐feedback form, which are subject to both uncertain delay‐related functions and disturbances. A reduced‐order observer is first introduced to provide the estimates of the unmeasured states. Then, an output‐feedback controller is recursively designed based on the backsteppng method. By constructing an appropriate Lyapunov–Krasovskii functional, we prove that all the signals in the closed‐loop system are bounded. The tracking performance is guaranteed by suitably choosing the design parameters. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed control algorithm. Copyright © 2009 John Wiley & Sons, Ltd.