This paper presents a fixed-time equivalent-inputdisturbance(EID)approach to deal with the problem of robust output-feedback control for perturbed uncertain systems.This method uses the basic structure of the conventi...This paper presents a fixed-time equivalent-inputdisturbance(EID)approach to deal with the problem of robust output-feedback control for perturbed uncertain systems.This method uses the basic structure of the conventional EID approach and treats uncertainties and disturbances as a lumped disturbance on the control-input channel.A fixed-time state observer enables state estimation,which resolves the causality issue in an EID-based control system,is finished in a fixed time.An implicit Lyapunov function,the homogeneity with dilation,the input-tostate stability,and the small-gain theorem are used to analyze the convergence and robustness of the EID-based system with measurement noise.Numerical and experimental results are presented to demonstrate the effectiveness and superiority of the proposed method.展开更多
基金supported in part by the Natural Science Foundation of China(62003292,62203391)the Natural Science Foundation of Zhejiang Province(LQ22F030015,LDT23E05014F03)JSPS(Japan Society for the Promotion of Science)KAKENHI(22H03998,23K25252)。
文摘This paper presents a fixed-time equivalent-inputdisturbance(EID)approach to deal with the problem of robust output-feedback control for perturbed uncertain systems.This method uses the basic structure of the conventional EID approach and treats uncertainties and disturbances as a lumped disturbance on the control-input channel.A fixed-time state observer enables state estimation,which resolves the causality issue in an EID-based control system,is finished in a fixed time.An implicit Lyapunov function,the homogeneity with dilation,the input-tostate stability,and the small-gain theorem are used to analyze the convergence and robustness of the EID-based system with measurement noise.Numerical and experimental results are presented to demonstrate the effectiveness and superiority of the proposed method.
