A dual‐observer design for global output feedback stabilization of nonlinear systems with low‐order and high‐order nonlinearities

Li, Ji; Qian, Chunjiang; Frye, Michael

doi:10.1002/rnc.1401

Cited by 109 publications

(100 citation statements)

References 14 publications

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“…There are lots of output feedback control approaches for nonlinear systems via various state observers in the literature, such as Kreisselmeier observer with exponential rate of convergence in Kreisselmeier, 39 nonsmooth nonlinear observer with finitetime convergence in Qian and Li, 40 and dual-observer for nonlinear systems with both low-order and high-order nonlinearities in Li et al 41 As a disturbance estimator, the extended state observer (ESO) proposed by Han 42 requires the least amount of model information, and all the unavailable system states can also be estimated. Such superiority has been demonstrated by many engineering applications like in Yao et al 43,44 and Xue et al 45 Especially in Yao et al, 43 a linear type of ESO 46 was incorporated with a nonlinear robust controller via backstepping method to derive an output feedback robust controller for a hydraulic system.…”

Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

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SummaryThis paper addresses the output feedback tracking control of a class of multipleinput and multiple-output nonlinear systems subject to time-varying input delay and additive bounded disturbances. Based on the backstepping design approach, an output feedback robust controller is proposed by integrating an extended state observer and a novel robust controller, which uses a desired trajectory-based feedforward term to achieve an improved model compensation and a robust delay compensation feedback term based on the finite integral of the past control values to compensate for the time-varying input delay. The extended state observer can simultaneously estimate the unmeasurable system states and the additive disturbances only with the output measurement and delayed control input. The proposed controller theoretically guarantees prescribed transient performance and steady-state tracking accuracy in spite of the presence of time-varying input delay and additive bounded disturbances based on Lyapunov stability analysis by using a LyapunovKrasovskii functional. A specific study on a 2-link robot manipulator is performed; based on the system model and the proposed design procedure, a suitable controller is developed, and comparative simulation results are obtained to demonstrate the effectiveness of the developed control scheme. | INTRODUCTIONTime delay that includes state delay and input delay is a pervasive phenomenon encountered in many practical engineering applications such as robotic systems, electrical networks, and hydraulic actuation systems. The existence of time delay may result in unexpected degradation in control performance and even instability. 1 Hence, how to effectively attenuate the effect of time delay has always been the research hotspot during the latest several decades, with numerous control schemes proposed, such as previous studies 2-12 for input delay and other studies [13][14][15][16][17][18] for state delay. Especially in Sun et al 17 and Sun and Liu, 18 stabilization of high-order uncertain nonlinear systems with state delays were investigated by using adaptive approach. 19,20 This paper focuses on the problem of input delay, ie, the time delay that occurs between the control input and the plant. Specifically, predictor-based techniques such as Artstein model reduction 2 and finite spectrum assignment, 3 which originate from classic Smith predictor method, 4 are typically exploited to compensate for the input delay. The core design in these predictor-based approaches is to transform the delayed system to a delay free one by using finite integrals over past control values. 21 In addition, many predictive controllers have also been synthesized based on the fact that the input delayed systems can be modeled as

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Section: Introductionmentioning

confidence: 99%

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Deng

Yao

2017

Intl J Robust & Nonlinear

119

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“…Consider transformed systems (9), (20), and (21). By the existence and continuity of solution, the closed-loop system state composed of ( ) = [ , ,̂] can be defined on a time interval [0, ), where > 0 may be a finite constant or infinity.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…Therefore, [16][17][18][19] proposed homogeneous domination method to overcome this obstacle. Based on the existing results, some special observers are proposed, such as dualobserver [20] and reduced-observer [21]. In practice, complex systems are usually composed of simple subsystems.…”

Section: Introductionmentioning

confidence: 99%

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

Liu

Sun

Meng

et al. 2018

Mathematical Problems in Engineering

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This paper focuses on the problem of global output feedback stabilization for a class of nonlinear cascade systems with timevarying output function. By using double-domination approach, an output feedback controller is developed to guarantee the global asymptotic stability of closed-loop system. The novel control strategy successfully constructs a unified Lyapunov function, which is suitable for both upper-triangular and lower-triangular systems. Finally, two numerical examples are provided to illustrate the effectiveness of a control strategy.

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“…In the case of polynomial growth conditions, a recursive design algorithm was developed to achieve output feedback stabilization by constructing a reduced-order observer in [19]. By using dual observers, the global output feedback stabilization was achieved for nonlinear systems with lowerorder and high-order nonlinearities in [20].…”

Section: Introductionmentioning

confidence: 99%

“…To deal with the case of high-order growth, several attempts have been made such as [14][15][16][17][18][19][20]. In particular, for a class of nonlinear systems with uncontrollable/unobservable linearization, the problem of output feedback stabilization was handled in [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Global state regulation by output feedback for feedforward systems with input and output dependent incremental rate

Jia

Jiao

et al. 2015

Journal of the Franklin Institute

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A dual‐observer design for global output feedback stabilization of nonlinear systems with low‐order and high‐order nonlinearities

Cited by 109 publications

References 14 publications

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Time‐varying input delay compensation for nonlinear systems with additive disturbance: An output feedback approach

Global Output Feedback Stabilization for a Class of Nonlinear Cascade Systems

Global state regulation by output feedback for feedforward systems with input and output dependent incremental rate

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