Combined backstepping and small-gain approach to adaptive output feedback control

Research output: Contribution to journalArticle

Abstract

In this brief article, a novel combined backstepping and small-gain approach is presented to the global adaptive output feedback control of a class of uncertain nonlinear systems with unmodeled dynamics. The use of small-gain techniques permits removal of a common restriction, i.e. that the nonlinearities in the system are only dependent on the measured output. The design procedure is divided into two parts. In the first part, based on a partial-state observer, integrator backstepping is used to design an adaptive output-feedback controller which ensures robustness with respect to unknown parameters and uncertain nonlinearities. In the second part, it is shown that the adaptive controller can be made robust against dynamic uncertainties by means of recent nonlinear small-gain results.

Original languageEnglish (US)
Pages (from-to)1131-1139
Number of pages9
JournalAutomatica
Volume35
Issue number6
DOIs
StatePublished - Jun 1999

Fingerprint

Backstepping
Feedback control
Controllers
Control nonlinearities
Robustness (control systems)
Nonlinear systems
Feedback
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Combined backstepping and small-gain approach to adaptive output feedback control. / Jiang, Zhong-Ping.

In: Automatica, Vol. 35, No. 6, 06.1999, p. 1131-1139.

Research output: Contribution to journalArticle

@article{7cf0fdff6f244dcc992ad05f287fa8ab,
title = "Combined backstepping and small-gain approach to adaptive output feedback control",
abstract = "In this brief article, a novel combined backstepping and small-gain approach is presented to the global adaptive output feedback control of a class of uncertain nonlinear systems with unmodeled dynamics. The use of small-gain techniques permits removal of a common restriction, i.e. that the nonlinearities in the system are only dependent on the measured output. The design procedure is divided into two parts. In the first part, based on a partial-state observer, integrator backstepping is used to design an adaptive output-feedback controller which ensures robustness with respect to unknown parameters and uncertain nonlinearities. In the second part, it is shown that the adaptive controller can be made robust against dynamic uncertainties by means of recent nonlinear small-gain results.",
author = "Zhong-Ping Jiang",
year = "1999",
month = "6",
doi = "10.1016/S0005-1098(99)00015-1",
language = "English (US)",
volume = "35",
pages = "1131--1139",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier Limited",
number = "6",

}

TY - JOUR

T1 - Combined backstepping and small-gain approach to adaptive output feedback control

AU - Jiang, Zhong-Ping

PY - 1999/6

Y1 - 1999/6

N2 - In this brief article, a novel combined backstepping and small-gain approach is presented to the global adaptive output feedback control of a class of uncertain nonlinear systems with unmodeled dynamics. The use of small-gain techniques permits removal of a common restriction, i.e. that the nonlinearities in the system are only dependent on the measured output. The design procedure is divided into two parts. In the first part, based on a partial-state observer, integrator backstepping is used to design an adaptive output-feedback controller which ensures robustness with respect to unknown parameters and uncertain nonlinearities. In the second part, it is shown that the adaptive controller can be made robust against dynamic uncertainties by means of recent nonlinear small-gain results.

AB - In this brief article, a novel combined backstepping and small-gain approach is presented to the global adaptive output feedback control of a class of uncertain nonlinear systems with unmodeled dynamics. The use of small-gain techniques permits removal of a common restriction, i.e. that the nonlinearities in the system are only dependent on the measured output. The design procedure is divided into two parts. In the first part, based on a partial-state observer, integrator backstepping is used to design an adaptive output-feedback controller which ensures robustness with respect to unknown parameters and uncertain nonlinearities. In the second part, it is shown that the adaptive controller can be made robust against dynamic uncertainties by means of recent nonlinear small-gain results.

UR - http://www.scopus.com/inward/record.url?scp=0033149666&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033149666&partnerID=8YFLogxK

U2 - 10.1016/S0005-1098(99)00015-1

DO - 10.1016/S0005-1098(99)00015-1

M3 - Article

VL - 35

SP - 1131

EP - 1139

JO - Automatica

JF - Automatica

SN - 0005-1098

IS - 6

ER -