Robust Finite-Time Output Feedback Control for Systems With Unpredictable Time-Varying Disturbances

• Main Authors: Huiming Wang, Qiyao Zhang, Juan Xian, I-Ming Chen
• Format: Article
• Language: English
• Published: IEEE 2020-01-01
• Series: IEEE Access
• Subjects: Disturbance compensation; finite-time state observer; robust finite-time output feedback control; time-varying disturbance
• Online Access: https://ieeexplore.ieee.org/document/9036946/

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.