Robust control of a class of non-affine nonlinear systems by state and output feedback
来源期刊：中南大学学报(英文版)2014年第4期
论文作者：CHEN Zhen-feng(陈贞丰) ZHANGYun(章云)
文章页码：1322 - 1328
Key words：robust control; non-affine nonlinear system; uncertainty; stability
Abstract: Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded (UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
CHEN Zhen-feng(陈贞丰)1, 2, ZHANGYun(章云)1
(1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;
2. School of Automation, Guangdong Polytechnic Normal University, Guangzhou 510665, China)
Abstract:Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded (UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
Key words:robust control; non-affine nonlinear system; uncertainty; stability
