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Prescribed-time observer-based output feedback control for nonlinear systems with full-state constraints
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DOI：10.1002/asjc.70167.png)
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Abstract
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This paper concentrates on the output feedback control problem of a nonlinear system with asymmetric full-state constraints. Firstly, a novel prescribed-time (PT) switched reduced-order observer is proposed for nonlinear system with nonvanishing disturbance. Moreover, for both disturbance-free and asymptotically vanishing disturbance cases, the proposed PT switched reduced-order observer guarantees exact PT estimation. Thus, the full-state constraints problem of the original system is converted into how to design the controller such that the states of the observer are constrained. Subsequently, a low-computation control law is constructed to directly constrain the states rather than impose constraints on errors. Then, it is guaranteed that all signals in the closed-loop system are bounded and asymmetric state constraints are maintained after the PT. Finally, the effectiveness of the main result is illustrated by the single-link robot system.
Keywords:
full-state constraints
output feedback control
switched reduced-order prescribed-time observer
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