Output feedback variable structure-like control of nonlinear mechanical systems

Author

Xian, B. ; de Queiroz, M.S. ; Dawson, D.M. ; McIntyre, M.L.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

1

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

368

Abstract

In this paper, we develop a new output feedback, variable structure-like (discontinuous) tracking controller for a class of uncertain, nonlinear, multi-input multi-output, mechanical systems whose dynamics are first-order differentiable. A novel filter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also present the design of a new variable structure-like velocity observer that ensures global asymptotic velocity observation.

Keywords

Lyapunov methods; MIMO systems; asymptotic stability; control system synthesis; feedback; nonlinear control systems; observers; position control; sampled data systems; tracking; uncertain systems; variable structure systems; Lyapunov type stability; MIMO; asymptotic velocity observation; filter design; first order differentiable; multiinput multioutput system; nonlinear mechanical systems; output feedback control; semiglobal asymptotic tracking; structure like velocity observer; tracking controller; uncertain system; variable structure like control; Control systems; Electric variables control; Filters; Frequency estimation; MIMO; Mechanical systems; Mechanical variables control; Nonlinear control systems; Output feedback; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272589

Filename

1272589