Combined Observer-Controller Synthesis for Uncertain Dynamical Systems with Applications

Bruce L. Walcott, Stanislaw H. Zak

Research output: Contribution to journalArticlepeer-review

201 Scopus citations

Abstract

Control of a class of nonlinear/uncertain systems is discussed via a variable structure systems (VSS) approach. Observation of the states of such systems is also considered. The natural extensions to an observer-controller design is illustrated using a computer simulation example of a θ-r manipulator. Next, the problem of path planning is addressed via a combined observer-controller strategy. Finally, the aspects of hardware implementation of the proposed observer-controller are analyzed.

Original languageEnglish
Pages (from-to)88-104
Number of pages17
JournalIEEE Transactions on Systems, Man and Cybernetics
Volume18
Issue number1
DOIs
StatePublished - 1988

ASJC Scopus subject areas

  • Engineering (all)

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