Abstract
The error-feedback servomechanism problem is addressed for a general class of strict-feedback-like systems. We provide two error-feedback control designs based on our recent results on adaptive outputfeedback based on dynamic high-gain scaling. One control design is of a dual high-gain observer/controller structure, whereas the other control design utilizes a backstepping-based controller in conjunction with a dynamic high-gain scaling-based observer. Owing to the particular robustness properties offered by a dynamic high-gain scaling-based controller and a backstepping-based controller, the two designs require slightly different sets of assumptions on the system. Both design techniques allow the system to contain both unknown functions and uncertain appended input-to-state stable dynamics. Copyright 2008 John Wiley and Sons, Ltd.
Original language | English (US) |
---|---|
Pages (from-to) | 937-964 |
Number of pages | 28 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 19 |
Issue number | 8 |
DOIs | |
State | Published - May 25 2009 |
Keywords
- Adaptive control
- Error-feedback
- High gain
- Nonlinear control
- Robustness
- Servomechanism
ASJC Scopus subject areas
- Control and Systems Engineering
- General Chemical Engineering
- Biomedical Engineering
- Aerospace Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering