Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form

Research output: Contribution to journalArticle

Abstract

A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both addictively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.

Original languageEnglish (US)
Pages (from-to)814-819
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume47
Issue number5
DOIs
StatePublished - May 2002

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Nonlinear systems
Feedback
Controllers
Backstepping
Linear systems
Stabilization

Keywords

  • Dynamic output feedback
  • Generalized output-feedback canonical form
  • Nonlinear observer

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

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title = "Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form",
abstract = "A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both addictively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.",
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AB - A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both addictively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.

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