Adaptive Output Feedback Funnel Control of Uncertain Nonlinear Systems With Arbitrary Relative Degree

This article considers the problem of output feedback funnel control for a class of uncertain nonlinear systems with arbitrary known relative degree. By utilizing the funnel control approach with a barrier Lyapunov function, a novel adaptive output feedback controller is constructed recursively, whi...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2021-06, Vol.66 (6), p.2854-2860
Main Authors: Liu, Yong-Hua, Su, Chun-Yi, Li, Hongyi
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive systems
barrier Lyapunov function
Feedback control
Feeds
funnel control
Liapunov functions
Lyapunov methods
Nonlinear control
Nonlinear systems
Nonlinearity
Output feedback
Transient analysis
uncertain nonlinear systems
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Summary:This article considers the problem of output feedback funnel control for a class of uncertain nonlinear systems with arbitrary known relative degree. By utilizing the funnel control approach with a barrier Lyapunov function, a novel adaptive output feedback controller is constructed recursively, which accomplishes the output tracking with prescribed transient behavior. The developed control scheme features that the precise knowledge of system nonlinearities, including generally required bounding functions, is not needed. A physical example is performed to verify the effectiveness of the proposed theoretical findings.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.3012027