Observer based switching control for systems with state and control constraints

Abstract

Considers the measurement feedback switching control of systems with pointwise-in-time state and control constraints. Previous work by the authors (2000) derived the switching control law utilizing a set-valued state estimation technique under the measurement feedback. However, the considerable online computational burden in constructing the set-valued estimates of the plant state may severely limit its applicability. Proposed methods in this paper alleviate this burden. The main idea is to construct an upper bound of a certain quadratic form of the unmeasured state estimation error. The resulting switching control law assures that state and control constraints are satisfied using only measurement feedback. The numerical design example also evaluates the effectiveness of the proposed method.