Global practical stabilization of the double integrator system with an imperfect sensor and subject to a bounded disturbance

• Published in: Control theory and technology Vol. 22; no. 3; pp. 468 - 478
• Main Authors: Zhu, Zhiyuan, Li, Yuanlong, Lin, Zongli
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.08.2024; Springer Nature B.V; Department of Automation,Shanghai Jiao Tong University,and Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai 200240,China%Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,P.O.Box 400743,Charlottesville,VA 22904-4743,USA
• Subjects: Complexity; Computational Intelligence; Control; Control and Systems Theory; Control methods; Double integrators; Engineering; Mechatronics; Nonlinearity; Optimization; Output feedback; Research Article; Robotics; Stabilization; Systems Theory; Low gain feedback; Practical stabilization; Disturbance rejection; Linear output feedback; Output saturation; Output dead zone
• ISSN: 2095-6983; 2198-0942
• DOI: 10.1007/s11768-024-00218-6

This paper is concerned with global practical stabilization of the double integrator system with an imperfect sensor and subject to an additive bounded output disturbance. The imperfect sensor nonlinearity possesses the nonlinear characteristics of saturation and dead zone. Because of the presence of output dead zone and the additive disturbance, the states cannot be expected to driven into an arbitrarily small neighborhood of the origin. To solve the global practical stabilization problem, we proposes a low gain-based linear dynamic output feedback law, under which the first state enters and remains in a bounded set whose size is depended on the bound of disturbance and the range of dead zone and the second state enters and remains in a pre-specified arbitrarily small set, both in finite time. Simulation results illustrate the effectiveness of our proposed control method.