Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form
A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and vari...
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| Veröffentlicht in: | IEEE transactions on automatic control 2002-05, Vol.47 (5), p.814-819 |
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| container_title | IEEE transactions on automatic control |
| container_volume | 47 |
| creator | Krishnamurthy, P. Khorrami, F. Jiang, Z.P. |
| description | A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems. |
| doi_str_mv | 10.1109/TAC.2002.1000279 |
| format | Article |
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This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. 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This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.</description><subject>Applied sciences</subject><subject>Backstepping</subject><subject>Canonical forms</subject><subject>Computer science; control theory; systems</subject><subject>Control system synthesis</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>Dynamical systems</subject><subject>Exact sciences and technology</subject><subject>Linear systems</subject><subject>Nonlinear dynamics</subject><subject>Nonlinear systems</subject><subject>Observers</subject><subject>Output feedback</subject><subject>Robot control</subject><subject>Robot kinematics</subject><subject>State feedback</subject><subject>Tracking</subject><issn>0018-9286</issn><issn>1558-2523</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2002</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqNkc1r3DAQxUVJoJuPe6EXU0jpxRtJlmT5GJY2LQRySc5CkkdBiVfeSvYh-eszm13akkMTHUYM_N7jMY-QT4wuGaPd-c3Faskp5UtGcbbdB7JgUuqaS94ckAWlTNcd1-ojOSrlHlclBFsQfzmMzg7VOE-beaoCQO-sf6imjDOmuyqMuUpjGmICm6vyWCZYlyqm6g4SZDvEJ-j36vqP2luURI--KF-fkMNghwKn-_-Y3P74frP6WV9dX_5aXVzVXggx1cqJhspechdsG5RWIJwO0gVlQfbKUdq0ou0b7TqpWtv3PHSqdUz63gmuu-aYfN35bvL4e4YymXUsHobBJhjnYrjG1zHxDrChVCj1NtgyzCQpgt_-CzKFpGqElIh-eYXej3NOeBijtWgkZtxCdAf5PJaSIZhNjmubHw2jZtu3wb7Ntm-z7xslZ3tfW_DyIdvkY_mrwxMx_hL1846LAPCP7c7lGSvUswc</recordid><startdate>20020501</startdate><enddate>20020501</enddate><creator>Krishnamurthy, P.</creator><creator>Khorrami, F.</creator><creator>Jiang, Z.P.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Systems</topic><topic>Dynamical systems</topic><topic>Exact sciences and technology</topic><topic>Linear systems</topic><topic>Nonlinear dynamics</topic><topic>Nonlinear systems</topic><topic>Observers</topic><topic>Output feedback</topic><topic>Robot control</topic><topic>Robot kinematics</topic><topic>State feedback</topic><topic>Tracking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Krishnamurthy, P.</creatorcontrib><creatorcontrib>Khorrami, F.</creatorcontrib><creatorcontrib>Jiang, Z.P.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Aerospace Database</collection><jtitle>IEEE transactions on automatic control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Krishnamurthy, P.</au><au>Khorrami, F.</au><au>Jiang, Z.P.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form</atitle><jtitle>IEEE transactions on automatic control</jtitle><stitle>TAC</stitle><date>2002-05-01</date><risdate>2002</risdate><volume>47</volume><issue>5</issue><spage>814</spage><epage>819</epage><pages>814-819</pages><issn>0018-9286</issn><eissn>1558-2523</eissn><coden>IETAA9</coden><abstract>A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. 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| issn | 0018-9286 1558-2523 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Backstepping Canonical forms Computer science control theory systems Control system synthesis Control systems Control theory. Systems Dynamical systems Exact sciences and technology Linear systems Nonlinear dynamics Nonlinear systems Observers Output feedback Robot control Robot kinematics State feedback Tracking |
| title | Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form |
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