Disturbance-observer-based output feedback control of non-linear cascaded systems with external disturbance

作者：Wu, Kang; Zhang, Zhongcai; Sun, Changyin^*

来源：IET Control Theory and Applications, 2018, 12(6): 738-744.

DOI：10.1049/iet-cta.2017.0612

• 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

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.

• 出版日期2018-4-17
• 单位曲阜师范大学; 东南大学