Reduced-order observer-based backstepping tracking control for a class of stochastic nonlinear systems

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• 作者：Qing Wang (1) (2)
  Delong Hou (1) (2)
  Chaoyang Dong (1) (3)
  Xuejiao Sun (1) (4)
  
• 关键词：Nonlinear systems ; Output feedback ; Global tracking ; Reduced ; order observer ; Adaptive backstepping ; Stochastic systems
• 刊名：Nonlinear Dynamics
• 出版年：2014
• 出版时间：October 2014
• 年：2014
• 卷：78
• 期：2
• 页码：939-956
• 全文大小：605 KB
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• 作者单位：Qing Wang (1) (2)
  Delong Hou (1) (2)
  Chaoyang Dong (1) (3)
  Xuejiao Sun (1) (4)
  
  1. Beijing University of Aeronautics and Astronautics, Beijing, 100191, People鈥檚 Republic of China
  2. School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, People鈥檚 Republic of China
  3. School of Aeronautic Science and Engineering, Beihang University, Beijing, 100191, People鈥檚 Republic of China
  4. Beijing Aerospace Research Institute of Micro System, Beijing, 100094, People鈥檚 Republic of China
  
• ISSN：1573-269X

文摘

In this paper, an output feedback tracking control scheme is put forwarded for a class of stochastic nonlinear systems, whose dynamics involve not only unknown parameters but also unmeasured states multiplied by output nonlinearities. A type of reduced-order observer is first developed. By adding some output related items in the observer, the estimation error realize global asymptotic convergence under disturbance free condition, and global bounded convergence when considering disturbance. Besides, the dimension of the closed-loop system is reduced, and the update law of this observer gain is beneficial for steady tracking. After the observer was established, the controller is constructed by employing the adaptive backstepping approach, and a smooth nonsingular robust item is proposed to handle the influence of stochastic disturbance. All the signals in the closed system is proved to be globally bounded in probability. Moreover the output tracking error converges to an arbitrary small neighborhood of the origin by proper choosing of the design parameters. The simulation results based on current control scheme and the comparison with the previous method illustrate that the proposed output feedback scheme realizes good tracking performance and strong ability on stochastic disturbance attenuation.