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Reduced-order observer-based output-feedback tracking control of nonlinear systems with state delay and disturbance. (English) Zbl 1204.93062
Summary: We investigate the problem of output-feedback tracking control for a class of nonlinear SISO systems in the strick-feedback form, which are subject to both uncertain delay-related functions and disturbances. A reduced-order observer is first introduced to provide the estimates of the unmeasured states. Then, an output-feedback controller is recursively designed based on the backsteppng method. By constructing an appropriate Lyapunov-Krasovskii functional we prove that all the signals in the closed-loop system are bounded. The tracking performance is guaranteed by suitably choosing the design parameters. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed control algorithm.

93C10Nonlinear control systems
93B52Feedback control
93D05Lyapunov and other classical stabilities of control systems
93C15Control systems governed by ODE
93B11System structure simplification
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