Abstract
We develop a new global output-feedback stabilization and tracking method for a subclass of strict-feedback nonlinear systems. This subclass is characterized by nonlinearities that are affine functions of the derivative of the measured output, with coefficients that are smooth nonlinear functions of the measured output. The novelty of our method is a nonlinear transformation of the unmeasured states in the observer design, which eliminates the dependence of the nonlinearities on the derivative of the measured output. The combination of the nonlinear observer and the nonlinear controller stabilizes the system and guarantees exponential convergence of the tracking error to zero.
Original language | English (US) |
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Pages (from-to) | 2503-2508 |
Number of pages | 6 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
Volume | 3 |
State | Published - 1998 |
Event | Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization