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Output feedback hierarchical control for nonlinear systems
Author(s) -
Yang Kaihong,
Ji Haibo
Publication year - 2017
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.3793
Subject(s) - control theory (sociology) , nonlinear system , sense (electronics) , computer science , control (management) , nonlinear control , transient (computer programming) , control engineering , feedback control , class (philosophy) , engineering , artificial intelligence , physics , quantum mechanics , electrical engineering , operating system
Summary In this paper, we address the problem of hierarchical control for nonlinear systems and design two dynamic output feedback hierarchical control laws in a semiglobal sense and in a global sense, respectively. With the controllers applied to a class of nonlinear systems, some transient and steady properties of the system output trajectories can be satisfied simultaneously. Furthermore, the corresponding result in the global sense for linear systems is naturally derived. Finally, the effectiveness of our approach is illustrated by a single‐link robot arm system. Copyright © 2017 John Wiley & Sons, Ltd.