Finite-time output-feedback control for teleoperation systems subject to mismatched term and state constraints

2020 ◽  
Vol 357 (16) ◽  
pp. 11421-11447
Author(s):  
Ziwei Wang ◽  
Yu Tian ◽  
Yanchao Sun ◽  
Bin Liang
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
State Constraints ◽  
Output Feedback Control ◽  
Teleoperation Systems

Extended state observer–based output feedback control for spacecraft pose tracking with control input saturation

2021 ◽  
pp. 095441002110177
Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Finite Time ◽  
Output Feedback Control ◽  
State Observer ◽  
Extended State Observer ◽  
Control Input ◽  
Extended State ◽  
Pose Tracking ◽  
Control Scheme

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

scholarly journals Nonlinear Output Feedback Control of Flexible Rope Crane Systems With State Constraints

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 136193-136202 ◽  
Author(s):  
Ning Sun ◽  
Jianyi Zhang ◽  
Xin Xin ◽  
Tong Yang ◽  
Yongchun Fang
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
State Constraints ◽  
Output Feedback Control
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