Abstract

A global output-feedback tracking controller based on a hybrid estimation scheme is proposed for a class of uncertain nonlinear systems. The hybrid estimation scheme combines a general estimator, that provides an input-to-state practical stabilizing control law with a locally exact differentiator, based on higher-order sliding modes. The key idea is to design a switching law to select between both estimators in such a way that stability properties are preserved and in addition exact tracking is achieved. As an example, the proposed control scheme is shown to solve the global output feedback tracking control problem of a class of uncertain Euler-Lagrange systems.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.