|Table of Contents|

Disturbance Observer-Based Tracking Control forNonlinear Systems with Input Delay(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2020年01期
Page:
1-7
Research Field:
电气工程
Publishing date:

Info

Title:
Disturbance Observer-Based Tracking Control forNonlinear Systems with Input Delay
Author(s):
Qi Xiaojing; Liu Wenhui
School of NARI Electrical and Automation,Nanjing Normal University,Nanjing 210023,China
Keywords:
disturbance observer; input delay; external disturbance; backstepping; tracking control
PACS:
TP13
DOI:
10.3969/j.issn.1672-1292.2020.01.001
Abstract:
This paper studies tracking control problem of a class of single input single output nonlinear systems with input delay and unknown external disturbances. First,a disturbance observer is designed to deal with the unknown disturbances. Then,pade approximation method and intermediate variable are introduced to eliminate the effects of the input delay. By using the backstepping technique and disturbance observer,we propose the tracking control scheme for the nonlinear systems with unknown external disturbances. Under the designed tracking control scheme based on the Lyapunov method,it is proved that all the signals in the closed-loop system are uniformly asymptotic convergence. Finally,a simulation example is given to verify the effectiveness of the proposed control method.

References:

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Last Update: 2020-03-15