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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 1049-8923

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Abstract

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.

Item Type: Article
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
Depositing User: VUIR
Date Deposited: 17 Jun 2011 05:16
Last Modified: 01 May 2012 02:26
URI: http://vuir.vu.edu.au/id/eprint/4060
DOI: 10.1002/rnc.1273
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Citations in Scopus: 20 - View on Scopus

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