Robust finite-time output feedback control for systems with unpredictable time-varying disturbances

• Main Authors: Wang, Huiming, Zhang, Qiyao, Xian, Juan, Chen, I-Ming
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering; Disturbance Compensation; Finite-time State Observer
• Online Access: https://hdl.handle.net/10356/145874
• Institution: Nanyang Technological University

This work presents a robust finite-time output feedback control method for a number of nonlinear systems that suffer unpredictable time-varying disturbances. The developed method takes advantage of control techniques based on a finite-time state observer used to estimate the lumped disturbance, where the estimator plays an important role in online compensation after being transmitted to a corresponding controller. Besides, with the state estimation provided by the finite-time state observer, the finite-time output feedback controller can guarantee the finite-time stability of the closed-loop system. The experimental results validate the effectiveness of the developed method on the trajectory tracking control of a robot manipulator.