Dynamic Output Feedback by Robust Observer and Variable Structure Control
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Authors
Cristi, R.
Healey, A.J.
Papoulias, F.
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Date of Issue
1990
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Abstract
Variable structure controllers for systems with
nonlinearities can be designed in conjunction with robust
observers to obtain regulation. The robust observer
(of the Doyle Stein class) is designed on the basis
of the nominal plant dynamics (assumed linear and
minimum phase), and the estimated state is used in the
variable structure controller. It is shown that the closed
lMop system is globally asymptoticvally stable and the
desired regulation is obtained provided the nonlinear
1erturbation is expressed by an operator with bounded
L2 and Lo: norms. Applications to the control of underwater
vehicles in diving maneuvers show the effectiveness
of the technique.
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Article
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Mechanical Engineering
Electrical and Computer Engineering
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.