1. A powerful output-feedback controller for uncertain nonlinear systems.
- Author
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Man, Yongchao and Liu, Yungang
- Subjects
- *
NONLINEAR systems , *FEEDBACK control systems , *ADAPTIVE control systems , *NONLINEAR theories , *AUTOMATIC control systems - Abstract
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 systemis provided to illustrate the effectiveness of the proposed controller. [ABSTRACT FROM AUTHOR]
- Published
- 2018
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