A powerful output-feedback controller for uncertain nonlinear systems

作者：Man, Yongchao; Liu, Yungang^*

来源：International Journal of Robust and Nonlinear Control, 2018, 28(6): 2264-2275.

DOI：10.1002/rnc.4014

• nonlinear systems
• output-feedback controller
• switching logic
• unknown control direction
• unmeasured state-dependent growth

System nonlinearities, immeasurableness, and uncertainties (especially their coupling/coexistence) have constantly challenged the control design, which requires the controller to be powerful enough to counteract the resulting negative effects. In this paper, a global adaptive output-feedback controller is designed for uncertain nonlinear systems. The proposed controller is of switching type, in which the design parameters are online adjusted on the basis of a switching logic in a recursive manner. This makes the controller powerful enough to compensate the system unknowns and dominate the system nonlinearities and therefore be applicable to a rather wide range of systems. Remarkably, our strategy allows the coexistence of an unknown control direction and unmeasured state-dependent growth but which are substantially excluded in the related literature. An example of the single-link robot arm system is provided to illustrate the effectiveness of the proposed controller.

• 出版日期2018-4-1
• 单位山东大学