Observer-Based Robust Tracking Control for a Class of Switched Nonlinear Cascade Systems

الملخص EN

This paper is devoted to robust output feedback tracking control design for a class of switched nonlinear cascade systems.

The main goal is to ensure the global input-to-state stable (ISS) property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances.

First, a nonlinear observer is constructed through state transformation to reconstruct the unavailable states, where only one parameter should be determined.

Then, by virtue of the nonlinear sliding mode control (SMC), a discontinuous nonlinear output feedback controller is designed using a backstepping like design procedure to ensure the ISS property.

Finally, an example is provided to show the effectiveness of the proposed approach.