Observer-Based Sequential Control of a Two Time Scale Spring-Mass-Damper System

2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. This paper extends the method of sequential control for two-time-scale systems from full-state feedback to output feedback. A two-time-scale observer based on the reduced slow and fast subsystems is developed to accompany the full-state feedback controller designed using the sequential method. Depending on whether one of the states or a combination of the two states is measured, different Lyapunov-based observer designs are investigated. Results in the paper demonstrate that Lyapunov-based design procedures for full-state feedback controllers can be extended to two-time-scale observers. The observer design uses lower-order reduced subsystems and does not require knowledge of the perturbation parameter. The observer dynamics are chosen such that the closed-loop stability of the reduced subsystems in the sense of Lyapunov is guaranteed. The observer-based technique is demonstrated on a nonlinear two-time-scale spring-mass-damper system.

Observer-Based Sequential Control of a Two Time Scale Spring-Mass-Damper System Conference Paper