Observer-based stabilization of one-sided Lipschitz systems with application to flexible link manipulator

Abstract

This article is concerned with the observer-based output feedback stabilization problem for a class of nonlinear systems that satisfies the one-sided Lipschitz and the quadratically inner-bounded conditions. The system model under consideration encompasses the classical Lipschitz nonlinear system as a special case. For such a system, we design the output feedback controller via constructing a full-order Luenberger-Type state observer. Sufficient conditions that guarantee the existence of observer-based output feedback are established in the form of linear matrix inequalities, which are readily solved by the available numerical software. Moreover, the proposed observer-based output feedback designs are applied to a flexible link manipulator system. Finally, simulation study on the manipulator system is given to demonstrate the effectiveness of the developed control design.