Robust adaptive output-feedback control for nonlinear systems with output unmodeled dynamics
Wu, Zhaojing and Xie, Xuejun and Shi, Peng (2008) Robust adaptive output-feedback control for nonlinear systems with output unmodeled dynamics. International Journal of Robust and Nonlinear Control, 18 (11). pp. 1162-1187. ISSN 1049-8923Full text for this resource is not available from the Research Repository.
In this paper, for a class of uncertain nonlinear systems in the presence of inverse dynamics, output unmodeled dynamics and nonlinear uncertainties, a robust adaptive output-feedback controller design is proposed by combining small-gain theorem, changing supply function techniques with backstepping methods. It is shown that all the signals of the closed-loop system are uniformly bounded in biased case, and the output can be regulated to a small neighborhood of the origin in unbiased case. Furthermore, under some additional assumptions, an asymptotical result is obtained.
|Uncontrolled Keywords:||ResPubID18738, nonlinear systems, adaptive backstepping control, small gain, output unmodeled dynamics, inverse dynamics|
|Subjects:||Faculty/School/Research Centre/Department > Institute for Logistics and Supply Chain Management (ILSCM)
FOR Classification > 0199 Other Mathematical Sciences Information Systems
|Date Deposited:||17 Jun 2011 05:16|
|Last Modified:||01 May 2012 02:26|
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|Citations in Scopus:||20 - View on Scopus|
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