Lyapunov-based switching control of nonlinear systems using high-gain observers

13 years 4 months ago

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Abstract— We consider dynamic output feedback practical stabilization of uniformly observable nonlinear systems, based on high-gain observers with saturation. We assume that uncertain parameters and initial conditions belong to known but comparably large compact sets. In this situation, designs based on traditional robust or adaptive techniques, if applicable, would lead to high controller, observer, and adaptation gains. High gains may excite unmodeled dynamics and signiﬁcantly amplify measurement noise. Moreover, they could be impossible or too costly to implement. In order to reduce the control efforts and improve robustness of a continuous high-gain-observer-based sliding mode control with respect to these non-ideal operational conditions, we have recently proposed a new logic-based switching design strategy. In this paper, we generalize our technique and apply it to a wider class of nonlinear systems and more general Lyapunov-function-based state and output feedback designs. I...

Leonid B. Freidovich, Hassan K. Khalil

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