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Output feedback backstepping control for non-linear systems using an adaptive finite time sliding mode observer

Feng, Jiehua, Zhao, Dongya, Yan, Xing-Gang, Spurgeon, Sarah K. (2023) Output feedback backstepping control for non-linear systems using an adaptive finite time sliding mode observer. IMA Journal of Mathematical Control and Information, 40 (2). pp. 306-331. ISSN 0265-0754. E-ISSN 1471-6887. (doi:10.1093/imamci/dnad014) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided) (KAR id:101212)

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In this paper, a class of non-linear systems in normal form is considered, which is composed of internal and external dynamics. An adaptive finite time sliding mode observer is first designed so that the system states, unmatched uncertain parameters and matched uncertainties can all be observed in finite time. Then, the systematic backstepping design procedure is employed to develop a novel output feedback backstepping control (OFBC). The proposed OFBC method can stabilize the considered non-linear systems despite the presence of non-linear internal dynamics and unmatched uncertainties. A Lyapunov method is used to ensure that the closed-loop system is asymptotically stable. Two MATLAB simulation examples are used to demonstrate the method.

Item Type: Article
DOI/Identification number: 10.1093/imamci/dnad014
Uncontrolled keywords: Applied Mathematics, Control and Optimization, Control and Systems Engineering
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Funders: National Natural Science Foundation of China (
Depositing User: Xinggang Yan
Date Deposited: 09 May 2023 15:13 UTC
Last Modified: 01 Aug 2023 08:53 UTC
Resource URI: (The current URI for this page, for reference purposes)
Feng, Jiehua:
Zhao, Dongya:
Yan, Xing-Gang:
Spurgeon, Sarah K.:
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