A Dual High Gain Controller for the Uncertain Generalized Output-Feedback Canonical form with Appended Dynamics Driven by All States

P. Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a global high gain scaling based observer/controller for nonlinear systems with appended Input-to-State Stable (ISS) dynamics which are allowed to have finite nonlinear gains from all system states. This represents a significant generalization from existing results which require the appended dynamics to be ISS with respect to the output, i.e., require the gains from other states to be zero. The restriction on the appended ISS dynamics imposed in previous results is due to the form of the Lyapunov functions generated in the backstepping design utilized which prevents gains from states of appended dynamics to system states other than the output to be effectively assigned. The proposed design utilizes the dual architecture of a nigh gain observer and controller with the underlying state scaling being dynamically output-dependent. The proposed observer/controller structure provides a globally asymptoti-cally stabilizing output-feedback solution. Furthermore, time-varying nonlinear parametric uncertainty is allowed to occur coupled with unmeasured states in the system dynamics.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4766-4771
Number of pages6
Volume6
StatePublished - 2003
Event2003 American Control Conference - Denver, CO, United States
Duration: Jun 4 2003Jun 6 2003

Other

Other2003 American Control Conference
CountryUnited States
CityDenver, CO
Period6/4/036/6/03

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Feedback
Controllers
Backstepping
Lyapunov functions
Nonlinear systems
Dynamical systems
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2003). A Dual High Gain Controller for the Uncertain Generalized Output-Feedback Canonical form with Appended Dynamics Driven by All States. In Proceedings of the American Control Conference (Vol. 6, pp. 4766-4771)

A Dual High Gain Controller for the Uncertain Generalized Output-Feedback Canonical form with Appended Dynamics Driven by All States. / Krishnamurthy, P.; Khorrami, Farshad.

Proceedings of the American Control Conference. Vol. 6 2003. p. 4766-4771.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Krishnamurthy, P & Khorrami, F 2003, A Dual High Gain Controller for the Uncertain Generalized Output-Feedback Canonical form with Appended Dynamics Driven by All States. in Proceedings of the American Control Conference. vol. 6, pp. 4766-4771, 2003 American Control Conference, Denver, CO, United States, 6/4/03.
Krishnamurthy P, Khorrami F. A Dual High Gain Controller for the Uncertain Generalized Output-Feedback Canonical form with Appended Dynamics Driven by All States. In Proceedings of the American Control Conference. Vol. 6. 2003. p. 4766-4771
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