This paper addresses the design of an observer-based control system for the one-sided Lipschitz (OSL) nonlinear systems under input saturation. A nonlinear matrix inequality-based control law for the nonlinear systems under input saturation and unavailable states is derived to ensure convergence of the state vector to the origin. A decoupling approach is provided for attaining simple design constraints for computing the controller and observer gains through a cone complementary linearization algorithm. In contrast to the conventional decoupling methods, the proposed approach considers OSL nonlinearity and saturation function to demonstrate both the necessity and sufficiency of the decoupled design constraints for the nonlinear matrix inequality-based main condition. To the best of our knowledge, observer-based stabilization of OSL systems under input saturation has been addressed for the first time. Novel results for the observer-based control of input-constrained Lipschitz nonlinear systems are provided as specific scenarios of the proposed results. Simulation results of the proposed control scheme to a flexible-joint robot and a complex nonlinear circuit are presented.

本文针对单饱和Lipschitz（OSL）非线性系统在输入饱和下基于观测器的控制系统进行了设计。推导了基于非线性矩阵不等式的非线性系统在输入饱和和不可用状态下的控制律，以确保状态向量收敛于原点。提供一种去耦方法，以达到简单的设计约束，从而通过圆锥互补线性化算法来计算控制器和观察者的增益。与传统的解耦方法相比，该方法考虑了OSL非线性和饱和函数，以证明基于非线性矩阵不等式的主要条件的解耦设计约束的必要性和充分性。据我们所知，在输入饱和下，基于观察者的OSL系统的稳定性已得到首次解决。输入结果受限的Lipschitz非线性系统的基于观察者的控制的新结果作为拟议结果的特定方案提供。给出了所提出的柔性关节机器人和复杂非线性电路控制方案的仿真结果。