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Semi-global sampled-data output feedback disturbance rejection control for a class of uncertain nonlinear systems

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  • Chuanlin Zhang
  • Jun Yang

Abstract

This paper investigates the semi-global output feedback disturbance rejection control problem for a class of uncertain nonlinear systems with additive disturbances using linear sampled-data control. Aiming to reject the adverse effects caused by the uncertainties and unknown nonlinear perturbations which may not satisfy the strict feedback or feedforward structure, a new generalised discrete-time extended state observer is proposed to estimate the disturbance at sampling points. An output feedback disturbance rejection control law is then constructed in a sampled-data form which facilitates digital implementations. By selecting adequate control gains and a sufficiently small sampling period to restrain the state growth under a zero-order-hold input, the semi-global asymptotic stability of the hybrid closed-loop system and the disturbance rejection ability are proved. Both numerical example and an application of a single-link robot arm system demonstrate the feasibility and efficacy of the proposed method.

Suggested Citation

  • Chuanlin Zhang & Jun Yang, 2017. "Semi-global sampled-data output feedback disturbance rejection control for a class of uncertain nonlinear systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(4), pages 757-768, March.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:4:p:757-768
    DOI: 10.1080/00207721.2016.1212434
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    References listed on IDEAS

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    1. Shiping Wen & Zhigang Zeng, 2013. "Robust sampled-data output tracking control for a class of nonlinear networked systems with stochastic sampling," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(9), pages 1626-1638.
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