Output Feedback Stabilization of a Class of MIMO Uncertain Non-affine Nonlinear Systems
نویسندگان
چکیده
In this paper, robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers— the first to estimate the feedback linearization error based on the full state information; the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniform ultimate bounded and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems, but also simplifies the stability analysis of the closed loop due to its simple control structure.
منابع مشابه
Passivity-Based Stability Analysis and Robust Practical Stabilization of Nonlinear Affine Systems with Non-vanishing Perturbations
This paper presents some analyses about the robust practical stability of a class of nonlinear affine systems in the presence of non-vanishing perturbations based on the passivity concept. The given analyses confirm the robust passivity property of the perturbed nonlinear systems in a certain region. Moreover, robust control laws are designed to guarantee the practical stability of the perturbe...
متن کاملAdaptive Consensus Control for a Class of Non-affine MIMO Strict-Feedback Multi-Agent Systems with Time Delay
In this paper, the design of a distributed adaptive controller for a class of unknown non-affine MIMO strict-feedback multi agent systems with time delay has been performed under a directed graph. The controller design is based on dynamic surface control method. In the design process, radial basis function neural networks (RBFNNs) were employed to approximate the unknown nonlinear functions. S...
متن کاملDesign of a Novel Framework to Control Nonlinear Affine Systems Based on Fast Terminal Sliding-Mode Controller
In this paper, a novel approach for finite-time stabilization of uncertain affine systems is proposed. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input-output feedback linearization of the nonlinear system with considering its internal dynamics. One of the main advantages of the proposed approach is that only the outputs and external state...
متن کاملA Partial-State Observer for a Class of MIMO Nonlinear Systems
In this paper, we consider input-affine invertible MIMO nonlinear systems which can be transformed into a special normal form by means of the structure algorithm. The normal form highlights a partial state, a subset of state variables, which plays in this setting a role similar to that of the outputs and its derivatives in a SISO system. It is shown that, if a system in this class can be asympt...
متن کاملA new switching strategy for exponential stabilization of uncertain discrete-time switched linear systems in guaranteed cost control problem
Uncertain switched linear systems are known as an important class of control systems. Performance of these systems is affected by uncertainties and its stabilization is a main concern of recent studies. Existing work on stabilization of these systems only provides asymptotical stabilization via designing switching strategy and state-feedback controller. In this paper, a new switching strate...
متن کامل