Sun Jiankun, Yang Jun, Zeng Zhigang, Wang Huiming
IEEE Trans Neural Netw Learn Syst. 2023 Nov;34(11):9223-9233. doi: 10.1109/TNNLS.2022.3157649. Epub 2023 Oct 27.
In this article, we investigate the problem of sampled-data robust output feedback control for a class of nonlinear uncertain systems with time-varying disturbance and measurement delay based on continuous-discrete observer. An augmented system that includes the nonlinear uncertain system and disturbance model is first found, and by using the delayed sampled-data output, we then propose a novel predictor-based continuous-discrete observer to estimate the unknown state and disturbance information. After that, in order to attenuate the undesirable influences of nonlinear uncertainties and disturbance, a sampled-data robust output feedback controller is developed based on disturbance/uncertainty estimation and attenuation technique. It shows that under the proposed control method, the states of overall hybrid nonlinear system can converge to a bounded region centered at the origin. The main benefit of the proposed control method is that in the presence of measurement delay, the influences of time-varying disturbance and nonlinear uncertainties can be effectively attenuated with the help of feedback domination method and prediction technique. Finally, the effectiveness of the proposed control method is demonstrated via the simulation results of a numerical example and a practical example.
在本文中，我们基于连续-离散观测器研究了一类具有时变干扰和测量延迟的非线性不确定系统的采样数据鲁棒输出反馈控制问题。首先构建了一个包含非线性不确定系统和干扰模型的增广系统，然后利用延迟采样数据输出，提出了一种基于预测器的新型连续-离散观测器来估计未知状态和干扰信息。在此之后，为了减弱非线性不确定性和干扰的不良影响，基于干扰/不确定性估计与衰减技术设计了一种采样数据鲁棒输出反馈控制器。结果表明，在所提出的控制方法下，整个混合非线性系统的状态能够收敛到以原点为中心的有界区域。所提控制方法的主要优点在于，在存在测量延迟的情况下，借助反馈主导方法和预测技术，可以有效减弱时变干扰和非线性不确定性的影响。最后，通过一个数值例子和一个实际例子的仿真结果验证了所提控制方法的有效性。
