Robust observer-based controller design for nonlinear parameter-varying systems with uncertainty and external disturbances

Abstract

This article investigates the robust observer-based controller design problem for nonlinear parameter-varying systems subject to uncertainty and external disturbances. First, a novel augment vector is constructed, and an corresponding model of the resulting closed-loop system is obtained. Second, by applying the Lyapunov stability theory, a class of state-and-parameter-dependent robust asymptotic stability criteria is established, and the state-and-parameter-dependent sufficient conditions for the design of the robust observer-based controller are then acquired to guarantee the stability of the resulting closed-loop system, which can be effectively solved by sum-of-squares techniques. Different from the previous researches, the proposed control algorithm enables the state-and-parameter-dependent observer and the state-and-parameter-dependent controller design of the nonlinear parameter-varying systems to enjoy the advantage of separate design. The advantage can effectively reduce the computational complexity. Finally, simulation results demonstrate that the proposed robust observer-based controller shows improved performance in presence of uncertainty and external disturbances.