期刊
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
卷 30, 期 5, 页码 690-714出版社
WILEY
DOI: 10.1002/acs.2628
关键词
dynamic output feedback; adaptive control; robust control; high-gain feedback; nonlinear control systems; observers
资金
- NSF [ECS-0501539]
A general class of uncertain nonlinear systems with dynamic input nonlinearities is considered. The system structure includes a core nominal subsystem of triangular structure with additive uncertain nonlinear functions, coupled uncertain nonlinear appended dynamics, and uncertain nonlinear input unmodeled dynamics. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular perturbation-like redesign to address the non-affine and uncertain nature of the input appearance in the system dynamics. The proposed approach yields a constructive global robust adaptive output-feedback control design that is robust to the dynamic input uncertainties and to uncertain nonlinear functions allowed throughout the system structure. Copyright (c) 2015 John Wiley & Sons, Ltd.
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