Full-order and reduced-order observers for one-sided Lipschitz nonlinear systems using Riccati equations

2012 ◽  
Vol 17 (12) ◽  
pp. 4968-4977 ◽  
Author(s):  
Wei Zhang ◽  
Housheng Su ◽  
Hongwei Wang ◽  
Zhengzhi Han
Keyword(s):  
Nonlinear Systems ◽  
Riccati Equations ◽  
Reduced Order ◽  
Lipschitz Nonlinear Systems

A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems

2012 ◽  
Vol 135 (1) ◽  
Author(s):  
Mohamadreza Homayounzade ◽  
Mehdi Keshmiri
Keyword(s):  
Nonlinear Systems ◽  
Global Exponential Stability ◽  
Degrees Of Freedom ◽  
Large Range ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Control Law ◽  
Reduced Order ◽  
Lipschitz Nonlinear Systems ◽  
Reduced Order Observer

This paper presents a novel reduced-order observer based controller for a class of Lipschitz nonlinear systems, described by a set of second order ordinary differential equations. The control law is designed based on the measured output and estimated states. The main features are: (1) The computation cost is reduced noticeably, since the observer is a reduced-order one; (2) The controller guarantees semi-global exponential stability for both estimation and tracking error; and (3) The proposed method can be used in a large range of applications, especially in mechanical systems. The effectiveness of the proposed method is investigated through the numerical simulation for a two-degrees-of-freedom robot manipulator acting on a horizontal worktable.

Sign in / Sign up

Export Citation Format

Share Document