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Title: Robust finite-time output feedback control for systems with unpredictable time-varying disturbances
Authors: Wang, Huiming
Zhang, Qiyao
Xian, Juan
Chen, I-Ming
Keywords: Engineering::Mechanical engineering
Issue Date: 2020
Source: Wang, H., Zhang, Q., Xian, J., & Chen, I-M. (2020). Robust finite-time output feedback control for systems with unpredictable time-varying disturbances. IEEE Access, 8, 52268-52277. doi:10.1109/ACCESS.2020.2980879
Journal: IEEE Access
Abstract: This work presents a robust finite-time output feedback control method for a number of nonlinear systems that suffer unpredictable time-varying disturbances. The developed method takes advantage of control techniques based on a finite-time state observer used to estimate the lumped disturbance, where the estimator plays an important role in online compensation after being transmitted to a corresponding controller. Besides, with the state estimation provided by the finite-time state observer, the finite-time output feedback controller can guarantee the finite-time stability of the closed-loop system. The experimental results validate the effectiveness of the developed method on the trajectory tracking control of a robot manipulator.
ISSN: 2169-3536
DOI: 10.1109/ACCESS.2020.2980879
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2020 IEEE. This journal is 100% open access, which means that all content is freely available without charge to users or their institutions. All articles accepted after 12 June 2019 are published under a CC BY 4.0 license, and the author retains copyright. Users are allowed to read, download, copy, distribute, print, search, or link to the full texts of the articles, or use them for any other lawful purpose, as long as proper attribution is given.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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