Robust output feedback tracking control for a class of MIMO nonlinear systems

@article{Pan2005RobustOF,
  title={Robust output feedback tracking control for a class of MIMO nonlinear systems},
  author={Ya-Jun Pan and H. J. Marquez and Tongwen Chen},
  journal={Proceedings of the 2005, American Control Conference, 2005.},
  year={2005},
  pages={4868-4873 vol. 7}
}
This paper proposes a robust output feedback controller for a class of nonlinear systems to track a desired trajectory. Our main goal is to ensure the global input-to-state (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. Our approach consists of constructing a nonlinear observer to reconstruct the unavailable states, and then designing a discontinuous controller using a back-stepping like design… CONTINUE READING

Figures from this paper.

References

Publications referenced by this paper.
SHOWING 1-10 OF 12 REFERENCES

and L

M. Farza, M. M. Saad
  • Rossignol, “Observer design for a class of MIMO nonlinear systems,” Automatica, vol. 40, pp. 135– 143
  • 2004
VIEW 3 EXCERPTS

Nonlinear Control Systems: Analysis and Design

  • IEEE Transactions on Automatic Control
  • 2003
VIEW 1 EXCERPT

and T

J. X. Xu, Y. J. Pan
  • H. Lee, “A gain scheduled sliding mode control scheme using filtering techniques with applications to multi-link robotic manipulators,” Transactions of the ASME Journal, Dynamics System, Measurement, and Control, vol. 122, no. 4, pp. 641–649
  • 2000
VIEW 1 EXCERPT