Premium
Semiglobal fixed‐time output feedback stabilization for a class of nonlinear systems
Author(s) -
Yao Qijia
Publication year - 2020
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.5349
Subject(s) - control theory (sociology) , observer (physics) , nonlinear system , controller (irrigation) , computer science , fixed point , stability (learning theory) , full state feedback , state (computer science) , control (management) , mathematics , algorithm , artificial intelligence , mathematical analysis , physics , quantum mechanics , machine learning , agronomy , biology
In this article, the fixed‐time output feedback stabilization for a class of lower‐triangular nonlinear systems only subject to Hölder continuous condition is investigated. First, a fixed‐time state observer is designed to estimate the unmeasured system states. Then, a fixed‐time full‐state feedback controller is designed under the assumption that all system states are measurable. Finally, a fixed‐time output feedback controller is designed by integrating the fixed‐time full‐state feedback controller with the fixed‐time state observer. Rigorous theoretical analysis for the semiglobal fixed‐time stability of the resulting closed‐loop system is provided. Numerical simulations are performed on a flexible‐joint single‐link robotic manipulator with a DC motor to illustrate the effectiveness and superiority of the proposed control method.