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Robust output tracking control for a class of uncertain nonlinear systems using extended state observer

  • Yan Zhao
  • Jiang-Bo YuEmail author
  • Jie Tian
Regular Papers Control Theory and Applications

Abstract

This paper investigates the global robust output tracking control problem via output feedback for a class of nonlinear uncertain systems with the integral input-to-state stable (iISS) dynamic uncertainties. By performing the coordinates transformation and employing an extended state observer (ESO), it can be seen that the robust setpoint tracking control is well solved. The proposed control strategy simplifies the control design procedure. This control scheme finds its application in the mass-spring mechanical system. It is shown that the asymptotic tracking control for any desired displacement can be achieved in the mass-spring mechanical system in the case of unknown parameters. The simulation results demonstrate that the proposed control scheme has a better tracking performance. This verifies the effectiveness of the developed method.

Keywords

Dynamic uncertainty extended state observer nonlinear systems output feedback tracking control 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.School of ScienceShandong Jianzhu UniversityJinanP. R. China

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