Robust High Gain Adaptive Output Feedback Tracking Control for Nonlinear Systems

  • Kohara, Koshiro (Department of Mech. Eng. and Mat. Sci., Kumamoto University) ;
  • Mizumoto, Ikuro (Department of Mech. Eng. and Mat. Sci., Kumamoto University) ;
  • Iwai, Zenta (Department of Mech. Eng. and Mat. Sci., Kumamoto University) ;
  • Michino, Ryuji (Department of Mech. Eng. and Mat. Sci., Kumamoto University) ;
  • Kumon, Makoto (Department of Mech. Eng. and Mat. Sci., Kumamoto University)
  • 발행 : 2000.10.01

초록

For a class of nonlinear systems which satisfy a certain condition so called output feedback exponential passivity (OFEP), it is well known that one can easily design a high-gain output feedback control system. The designed high-gain controller has simple structure and high robustness. 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 deal with a design problem of the robust high-gain adaptive output feedback control for the above-mentioned class of nonlinear systems with uncertain nonlinearities and/or disturbances.

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