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A Robust Output—Feedback Controller for a Class of Uncertain Nonlinear Systems

LIUXiao-hua、WANGXiu-hong

2002Acta Scientiarum Naturalium Universitatis SunyatseniEngineering被引 2

摘要

A robust output-feedback controller is designed by using observer plus backstepping procedure to solve the tracking problems of a class of nonlinear uncertain systems. To make the design procedure and to generate the normalization signal and a group of positive nonlinear functions used in the nonlinear damping terms are all chosen properly. The assumption made on the reference signals is much weaker than existing schemes, therefore the designed controller can be applied to track much broader classes of reference signals.The global boundness of all closed-loop signals can be guaranteed and the output tracking error can be made as small as possible if the design constants are chosen large enough.

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