Combined Observer-Controller Synthesis for Uncertain Dynamical Systems with Applications

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.