Semi-global sampled-data output feedback disturbance rejection control for a class of uncertain nonlinear systems

Chuanlin Zhang and Jun Yang

International Journal of Systems Science, 2017, vol. 48, issue 4, 757-768

Abstract: This paper investigates the semi-global output feedback disturbance rejection control problem for a class of uncertain nonlinear systems with additive disturbances using linear sampled-data control. Aiming to reject the adverse effects caused by the uncertainties and unknown nonlinear perturbations which may not satisfy the strict feedback or feedforward structure, a new generalised discrete-time extended state observer is proposed to estimate the disturbance at sampling points. An output feedback disturbance rejection control law is then constructed in a sampled-data form which facilitates digital implementations. By selecting adequate control gains and a sufficiently small sampling period to restrain the state growth under a zero-order-hold input, the semi-global asymptotic stability of the hybrid closed-loop system and the disturbance rejection ability are proved. Both numerical example and an application of a single-link robot arm system demonstrate the feasibility and efficacy of the proposed method.

Date: 2017
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DOI: 10.1080/00207721.2016.1212434

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