Global adaptive output regulation for a class of nonlinear systems with iISS inverse dynamics using output feedback

Summary This paper concerns global robust output regulation of a class of nonlinear lower triangular systems with an unknown high‐frequency gain as well as an unknown exosystem. A novel class of internal model candidates is integrated with the output regulation framework. As a result, stabilization of the augmented system can be performed without parameter estimators. However, the new internal models bring challenges to the stabilization of the augmented system. To overcome these challenges, we propose a new recursive controller design procedure and use it to develop a Nussbaum‐gain‐based controller. This work extends the existing results on nonlinear output regulation of lower triangular systems to the case where both the high‐frequency gain sign and the exosystem are unknown. Copyright © 2017 John Wiley & Sons, Ltd.

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“…Remark Assumption A7 is reasonable for dealing with iISS dynamics. Similar conditions are also required in considering iISS systems.…”

Section: Resultsmentioning

confidence: 99%

A result on output regulation of lower triangular systems with unknown high‐frequency gain sign

Guo

Liu

2017

Intl J Robust & Nonlinear

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“…(9), according to Proposition 2, Lemma 3.1 in Ref. [5] and assumption 4, we can construct two different iISS-Lyapunov functions…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…In recent years, the research on iISS has received much attention in the control community. The work [4] presents a unifying framework for global output feedback regulation control from ISS to iISS [5] further studies the global robust output regulation of output feedback systems with iISS inverse dynamics. More results along this direction can be found in Refs.…”

Section: Introductionmentioning

confidence: 99%

Output Feedback Regulation Control for a Class of Uncertain Nonlinear Systems

Wang

Zhang

et al. 2015

Journal of Dynamic Systems, Measurement, and Control

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This paper investigates the global regulation problem for a class of nonlinear systems with integral input-to-state stable (iISS) dynamic uncertainty. By designing a reducedorder observer, a systematic output feedback control strategy is proposed. The designed dynamic controller can achieve the global set-point regulation control and guarantee all signals of the closed-loop systems bounded. The developed control schemes find its application in the pendulum control system. Simulation results verify its effectiveness.

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“…The output feedback control results in these works all need to know the state information of the first subsystem, that is, the output equation is y = x 1 . As claimed by Zhai and Qian, in practical control systems, the relationship between the sensors output (eg, voltage output from the sensor) and x 1 of the system (eg, real physical value such as displacement, angle, temperature, etc.)…”

Section: Introductionmentioning

confidence: 99%

“…The main contributions of this paper are summarized as follows: Compared with the existing output feedback control results, the restrictive conditions on the output function are relaxed. Particularly, the unknown output function involved in this paper only requires to have a generalized derivative (ie, the output function does not need to be differentiable as in other works), and the prior knowledge on the upper and lower bounds of the generalized derivative need not to be known. Although the feedback control schemes for nonlinear cascade systems with known output functions have been developed, they rely on the state information x 1 which is not available in the concerned control problem; thus, they cannot be directly applied to the system concerned in this paper. More importantly, when the unknown output function and the unknown control direction exist simultaneously, the analysis scheme provided in the work of Jiang et al and Wu et al will no longer be feasible since the integrability of the derivative of the Lyapunov function depends on the generalized derivative of the unknown output function.…”

Section: Introductionmentioning

confidence: 99%

Global output feedback control for nonlinear cascade systems with unknown output functions and unknown control directions

Wang

Sun

2020

Intl J Robust & Nonlinear

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Summary This paper investigates the output feedback control for the uncertain nonlinear system with the integral input‐to‐state stable (iISS) cascade subsystem, which allow not only the unknown control direction but also the unknown output function. The unknown output function only needs to have a generalized derivative (which may not be derivable), and the upper and lower bounds of the generalized derivative need not to be known. To deal with the challenge raised by the unknown output function and the unknown control direction, we choose a special Nussbaum function with a faster growth rate to ensure the integrability for the derivative of the selected Lyapunov function. Then, a dynamic output feedback controller is designed to drive the system states to the origin while keeping the boundedness for all other closed‐loop signals. Moreover, via some appropriate transformations, the proposed control scheme is extended to deal with more general uncertain nonlinear cascade systems with quantized input signals. Finally, two simulation examples are given to show the effectiveness of the control scheme.

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Global adaptive output regulation for a class of nonlinear systems with iISS inverse dynamics using output feedback

Cited by 38 publications

References 16 publications

A result on output regulation of lower triangular systems with unknown high‐frequency gain sign

A result on output regulation of lower triangular systems with unknown high‐frequency gain sign

Output Feedback Regulation Control for a Class of Uncertain Nonlinear Systems

Global output feedback control for nonlinear cascade systems with unknown output functions and unknown control directions

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