Robust backstepping control using linear observer with switching term

Abstract

In this thesis, a new controller and a new observer are proposed the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control using linear observer with switching term follows a systematic procedure for the design of control laws and observer, and also uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The simulation results show that the control scheme works well with uncertainties. The controller is experimentally verified on a single-link flexible joint robot to show the effectiveness of the proposed controller and observer in the complicate systems with uncertainties.