Sampled-data controller design and stability analysis for nonlinear systems with input saturation and disturbances

摘要

In modern control theory, it is more applicable for digital computers using a sampled-data controller than a continuous-time controller. Meanwhile, input saturation and disturbance inevitably exist in control systems. Thus, how to propose an applicable sampled-data controller for nonlinear systems considering input saturation together with external disturbances is essential for applications. To deal with this control problem, a novel auxiliary control signal is designed in this paper. Then, by using Lyapunov method, the control design process is simplified compared with the traditional backstepping technique, and only one Lyapunov function is needed. In addition, the state and disturbance observers are proposed with the new auxiliary control signal to track the unavailable states and external disturbances. Finally, we propose a novel controller reflecting the sampled-data output-feedback for the nonlinear systems to ensure the system stability. The effectiveness of proposed control method in this paper is confirmed through two sets of numerical simulation results.