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.
A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 22, 2011; final manuscript received May 6, 2012; published online November 7, 2012. Assoc. Editor: Bor-Chin Chang.
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Homayounzade, M., and Keshmiri, M. (November 7, 2012). "A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems." ASME. J. Dyn. Sys., Meas., Control. January 2013; 135(1): 014505. https://doi.org/10.1115/1.4007235
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