Output Feedback Variable Structure-like Control of Nonlinear Mechanical Systems
نویسنده
چکیده
In this paper, we develop a new output feedback, variable structure-like (discontinuous) tracking controller for a class of uncertain, nonlinear, multiinput multi-output, mechanical systems whose dynamics are Þrst-order differentiable. A novel Þlter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also present the design of a new variable structure-like velocity observer that ensures global asymptotic velocity observation.
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