Robust Observer-based Output Tracking Control of Nonlinear Systems with Sensor Measurement Delays
نویسنده
چکیده
In this note, a practical issue related to the measurement delay is addressed for the output tracking control of a class of nonlinear uncertain systems. Observer based sliding mode control approach is proposed. The measurement delay is constant and bounded. The sliding mode control can handle matched L∞ type system uncertainties with known bounding functions. However, the controller usually requires fully measurable and instantaneous states information without any delays. To deal with measurement time delay, a robust observer is constructed based on delayed output information from the sensor. Through designing the observer gain according to the Linear Matrix Inequality (LMI) techniques developed by Lyapunov Kravoskii method for time delay systems, the convergence of the estimation error with an uniform bound is ensured. Then the sliding mode control law is constructed based on estimated states. The convergence of the switching surface is ensured in finite time and the overall tracking error tends to be bounded due to the estimation error bound of the observer. Finally, a simulation example is presented to show the effectiveness of the proposed method.
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تاریخ انتشار 2008