Approximation-Free Output-Feedback Non-Backstepping Controller for Uncertain SISO Nonautonomous Nonlinear Pure-Feedback Systems

Mathematics

Jang-Hyun Park¹  Seong-Hwan Kim¹  Tae-Sik Park¹ 

[1] Department of Electrical and Control Engineering, Mokpo National University, Chonnam 58554, Korea;

关键词: differentiator-based controller;    approximation-free;    nonautonomous;    uncertain nonlinear system;   

DOI  :  10.3390/math7050456

来源: DOAJ

【 摘 要 】

A novel differentiator-based approximation-free output-feedback controller for uncertain nonautonomous nonlinear pure-feedback systems is proposed. Using high-order sliding mode observer, which is a finite-time exact differentiator, the time-derivatives of the signal generated using tracking error and filtered input are directly estimated. As a result, the proposed non-backstepping control law and stability analysis are drastically simple. The tracking error vector is guaranteed to be exponentially stable in finite time regardless of the nonautonomous property in the considered system. It does not require neural networks or fuzzy logic systems, which are typically adopted to capture unstructured uncertainties intrinsic in the controlled system. As far as the authors know, there are no research results on the output-feedback controller for the uncertain nonautonomous pure-feedback nonlinear systems. The results of the simulation show clearly the performance and compactness of the control scheme proposed.

【 授权许可】

Unknown