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Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term

Michino, Ryuji   (Graduate School of Science and Technology, Kumamoto UniversityUU0014183  ); Mizumoto, Ikuro   (Department of Mechanical Engineering and materials Science, Kymamoto University  ); Iwai, Zenta   (Department of Mechanical Engineering and materials Science, Kymamoto University  ); Kumon, Makoto   (Department of Mechanical Engineering and materials Science, Kymamoto University  );
  • 초록

    It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.


  • 주제어

    Adaptive control .   high gain output feedback control .   uncertain nonlinearity .   nonlinear systems.  

  • 참고문헌 (12)

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