Abstract
A general class of uncertain nonlinear systems with uncertain input unmodeled dynamics is considered. The system structure includes a core nominal subsystem of triangular structure with additive uncertain nonlinear functions and coupled with a set of uncertain nonlinear appended dynamics as well as uncertain dynamic input nonlinearities. The dynamic input nonlinearities include an uncertain non-affine function and a dynamic perturbation through an uncertain input unmodeled dynamics subsystem. The input unmodeled dynamics subsystem is coupled with the entire system state including the unmeasured state of the uncertain nonlinear appended dynamics coupled with the nominal triangular system. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbation-like redesign to address the non-affine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a global robust adaptive output-feedback control design that is robust to the dynamic input uncertainties and to uncertain nonlinear functions allowed throughout the system structure.
Original language | English (US) |
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Title of host publication | 2014 American Control Conference, ACC 2014 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 1168-1173 |
Number of pages | 6 |
ISBN (Print) | 9781479932726 |
DOIs | |
State | Published - 2014 |
Event | 2014 American Control Conference, ACC 2014 - Portland, OR, United States Duration: Jun 4 2014 → Jun 6 2014 |
Publication series
Name | Proceedings of the American Control Conference |
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ISSN (Print) | 0743-1619 |
Other
Other | 2014 American Control Conference, ACC 2014 |
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Country | United States |
City | Portland, OR |
Period | 6/4/14 → 6/6/14 |
Keywords
- Output feedback
- Robust adaptive control
- Uncertain systems
ASJC Scopus subject areas
- Electrical and Electronic Engineering