Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form

A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and vari...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on automatic control 2002-05, Vol.47 (5), p.814-819
Main Authors: Krishnamurthy, P., Khorrami, F., Jiang, Z.P.
Format: Article
Language:English
Subjects:
Applied sciences
Backstepping
Canonical forms
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Dynamical systems
Exact sciences and technology
Linear systems
Nonlinear dynamics
Nonlinear systems
Observers
Output feedback
Robot control
Robot kinematics
State feedback
Tracking
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2002.1000279