An Observer-Based Composite Nonlinear Feedback Controller for Robust Tracking of Uncertain Nonlinear Singular Systems With Input Saturation

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Publication Details

Author listRizi, Leyli Saboktakin; Mobayen, Saleh; Dastjerdi, Mohammad Taghi; Ghaffari, Valiollah; Assawinchaichote, Wudhichai; Fekih, Afef;

PublisherInstitute of Electrical and Electronics Engineers

Publication year2022

Volume number10

Start page59078

End page59089

Number of pages12

ISSN2169-3536

eISSN2169-3536

URLhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85131729897&doi=10.1109%2fACCESS.2022.3179464&partnerID=40&md5=1094d8d3373045949636ac2a64ce39e8

LanguagesEnglish-Great Britain (EN-GB)


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Abstract

This study proposes an observer-based Composite Nonlinear Feedback (CNF) controller for the robust tracking of uncertain singular systems with input saturation, nonlinear function, time-delay, and disturbances. The suggested control law is designed based states reconstructed using a singular observer so as to increase steady-state accuracy and improve robustness. The CNF controller is developed based on Generalized Riccati Equations (GRE) and Lyapunov-Krasovskii functional. Additionally, the proposed theorem verifies the stability conditions of the system in the presence of uncertainties and disturbances. Among the advantages of this method, are its fewer restrictive assumptions, transient and high-speed performance improvement and steady-state precision. The uniform boundedness of the tracking error in the presence of the input saturation and external disturbancesis also a prominent feature of this method. The performance of the proposed approach is assessed using a simulation study. © 2013 IEEE.


Keywords

Generalized Riccati equationnonlinear functionsobserver-based composite nonlinear feedbackrobust trackingsingular systems


Last updated on 2023-20-09 at 07:37