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 additively 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 language | English (US) |
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Title of host publication | Proceedings of the American Control Conference |
Pages | 4241-4246 |
Number of pages | 6 |
Volume | 6 |
State | Published - 2001 |
Event | 2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001 |
Other
Other | 2001 American Control Conference |
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Country/Territory | United States |
City | Arlington, VA |
Period | 6/25/01 → 6/27/01 |
ASJC Scopus subject areas
- Control and Systems Engineering