Output feedback tracking control for polynomial nonlinear systems with measurement noises and mismatched disturbances |
| |
| Institution: | 1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, P.R.China;2. Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), Nanjing 210023, P.R.China;1. School of Mathematics and Statistics, Northwestern Polytechnical University, Xi’an, 710072, China;2. Department of Mathematics, 8 Mai 1945-Guelma University, Guelma, 24000, Algeria;1. School of Electric Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450000, China;2. School of Control Science and Engineering, Tiangong University, Tianjin 300387, China;3. School of Information Science and Engineering, Chengdu University, Chengdu 610106, China |
| |
| Abstract: | In this paper, the output feedback tracking control problem is investigated for polynomial nonlinear systems (PNSs) with measurement noises and mismatched disturbances. First, in order to suppress measurement noises, a polynomial observer is introduced to simultaneously estimate states and mismatched disturbances. Next, based on the idea of backstepping control, a novel output feedback controller is designed for PNSs to compensate mismatched disturbances. Command filters are employed to avoid the repeated derivatives of virtual control and measurement noises in the recursive controller design. Then, a sufficient condition in terms of the parameter-dependent linear matrix inequality (PDLMI) is derived to guarantee the boundedness of tracking errors and estimation errors. By utilizing the sum of squares (SOS) decomposition technique, the PDLMI is solved to obtain desired controller parameters. Finally, an example of dynamic point-the-bit rotary steerable drilling tool system is performed to demonstrate the effectiveness and feasibility of the proposed strategy. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
