Global adaptive output feedback tracking for a class of multivariable nonlinear systems

作者：Yu Xiaowei; Lin Yan^*

来源：International Journal of Control, 2014, 87(8): 1622-1634.

DOI：10.1080/00207179.2014.880130

• output feedback
• multivariable nonlinear systems
• adaptive backstepping
• high-gain observer

In this paper, global adaptive output feedback tracking problem is considered for a class of multivariable nonlinear systems with unknown parameters and nonlinear terms linear in unmeasured states. Based on a modified high-gain observer and symmetric positive diagonal unity upper triangular factorisation of high-frequency gain matrix, an adaptive backstepping design is proposed, which is able to guarantee global stability of the closed-loop system and circumvent the over-parameterisation problem raised by using conventional backstepping method. Moreover, with the introduction of an error modification and an initialisation technique, it is proved that the tracking performance can be achieved.

• 出版日期2014-8-3
• 单位北京航空航天大学