A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems

Choon Ki Ahn, Beom Soo Kim, Myo Taeg Lim

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

Abstract

In this paper, we present a global adaptive output feedback control scheme for a class of 3rd-order uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. In contrast to the existing output feedback form, the allowed extended output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design technique employs a change of coordinates and adaptive backstepping. With these proposed tools, we can remove linear and quadratic dependence on the unmeasured states in the state equation. Also, the multiplication of the two unmeasured states can be eliminated. From the transformed systems, a state observer can be constructed in a very easy way. The overall scheme achieves globally exponential convergence of the tracking error to zero while maintaining global boundedness of all the signals and states.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages451-456
Number of pages6
Volume15
Edition1
Publication statusPublished - 2002
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: 2002 Jul 212002 Jul 26

Other

Other15th World Congress of the International Federation of Automatic Control, 2002
CountrySpain
CityBarcelona
Period02/7/2102/7/26

Fingerprint

Backstepping
Feedback control
Nonlinear systems
Feedback

Keywords

  • A change of coordinates
  • Adaptive backstepping
  • Output feedback
  • State observer
  • Unmeasured states

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ahn, C. K., Kim, B. S., & Lim, M. T. (2002). A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 ed., Vol. 15, pp. 451-456). IFAC Secretariat.

A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. / Ahn, Choon Ki; Kim, Beom Soo; Lim, Myo Taeg.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 1. ed. IFAC Secretariat, 2002. p. 451-456.

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

Ahn, CK, Kim, BS & Lim, MT 2002, A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 edn, vol. 15, IFAC Secretariat, pp. 451-456, 15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 02/7/21.
Ahn CK, Kim BS, Lim MT. A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 ed. Vol. 15. IFAC Secretariat. 2002. p. 451-456
Ahn, Choon Ki ; Kim, Beom Soo ; Lim, Myo Taeg. / A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 15 1. ed. IFAC Secretariat, 2002. pp. 451-456
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