Observer-based robust preview tracking control for a class of non-linear systems

摘要

This study provides an observer-based robust preview tracking controller for Lipschitz non-linear systems. Firstly, the non-linear system dynamics is studied and the non-linear observer is designed. By introducing the Lyapunov function, the observer gain matrix is obtained through linear matrix inequalities (LMIs). To obtain an effective tracking control law, an augment error system which consists of difference of estimation error, tracking error, difference of estimated status and reference preview information is constructed. The sufficient solutions for observer-based robust preview controller are analysed using the LMI approach. Two numerical examples are provided to show the flexibility and effectiveness of the proposed robust preview tracking controller.