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Robust adaptive tracking of uncertain nonlinear systems by output feedback
Author(s) -
Zhang Xu,
Lin Yan
Publication year - 2015
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3402
Subject(s) - control theory (sociology) , nonlinear system , tracking error , bounded function , convergence (economics) , controller (irrigation) , computer science , residual , adaptive control , robustness (evolution) , tracking (education) , set (abstract data type) , robust control , mathematics , control (management) , algorithm , artificial intelligence , pedagogy , psychology , quantum mechanics , physics , economic growth , mathematical analysis , chemistry , biology , biochemistry , agronomy , programming language , economics , gene
Summary We investigate the problem of robust adaptive tracking by output feedback for a class of uncertain nonlinear systems. Based on the high‐gain scaling technique and a new adaptive law, a linear‐like output feedback controller is constructed. Only one dynamic gain is designed, which makes the controller easier to implement. Furthermore, by modifying the update law, the adaptive controller is robust to bounded external disturbance and is able to guarantee the convergence of the output tracking error to an arbitrarily small residual set. A numerical example is used to illustrate the effectiveness of the proposed method. Copyright © 2015 John Wiley & Sons, Ltd.