Adaptive asymptotic tracking of nonlinear output feedback systems under unknown bounded disturbances.

• Autorzy: Ding Z.
• Języki publikacji: EN

Abstrakty

EN

With application of differential geometry, a class of nonlinear output feedback control systems with unknown parameters can be transformed to a special observer form, and adaptive control algorithm is proposed [11] to achieve asymptotic output tracking based on backstepping technique originally introduced in [7]. Over-parameterization in [11], [7] is eliminated using the tuning function concept and K-filters [10]. However, it is still under investigation haw to make the newly proposed algorithm robust to disturbances. This paper deals with asymptotic output tracking of the nonlinear output feedback systems subject to unknown bounded disturbances. A nonlinear transform is introduced based on specific geometrical conditions to put the system in a special observer form and K-filters are used for state estimation. It is then shown that asymptotic output tracking is achieved with incorporation of a variable structure control into adaptive control design. The proposed adaptive control algorithm is demonstrated by a simulation example.

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 1998
• Tom: Vol. 24, nr 2
• Strony: 47--59
• Opis fizyczny: Bibliogr. 22 poz., rys. 4

Twórcy

autor

Ding Z.

• Department of Mechanical Engineering, Ngee Ann Polytechnic , 535 Clementi Road, Singapore 599489, Republic of Singapore.