Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction

Zhong-Ping Jiang, Iven Mareels, David Hill, Jie Huang

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

Abstract

This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to unknown control direction. It is shown that previous work in universal high-gain control with unknown sign of high-frequency gain can be included as special cases. The class of uncertain nonlinear systems studied in this paper extends those studied for output feedback control previously in several directions: unmeasured states and unknown parameters can appear non-linearly, no matching assumption is required, no growth condition of any kind is imposed on the non-linearities for large signals, the inverse dynamics satisfy the weaker condition of Son-tag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages573-578
Number of pages6
Volume1
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

Fingerprint

Nonlinear systems
Feedback
Controllers
Feedback control
Gain control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Jiang, Z-P., Mareels, I., Hill, D., & Huang, J. (2003). Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction. In Proceedings of the American Control Conference (Vol. 1, pp. 573-578)

Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction. / Jiang, Zhong-Ping; Mareels, Iven; Hill, David; Huang, Jie.

Proceedings of the American Control Conference. Vol. 1 2003. p. 573-578.

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

Jiang, Z-P, Mareels, I, Hill, D & Huang, J 2003, Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction. in Proceedings of the American Control Conference. vol. 1, pp. 573-578, 2003 American Control Conference, Denver, CO, United States, 6/4/03.
Jiang Z-P, Mareels I, Hill D, Huang J. Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction. In Proceedings of the American Control Conference. Vol. 1. 2003. p. 573-578
Jiang, Zhong-Ping ; Mareels, Iven ; Hill, David ; Huang, Jie. / Universal Output Feedback Controllers for Nonlinear Systems with Unknown Control Direction. Proceedings of the American Control Conference. Vol. 1 2003. pp. 573-578
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