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ADAPTIVE OUTPUT FEEDBACK CONTROL OF NON-LINEAR FEEDBACK LINEARIZABLE SYSTEMS

✍ Scribed by MRDJAN JANKOVIC

Publisher: John Wiley and Sons
Year: 1996
Tongue: English
Weight: 957 KB
Volume: 10
Category: Article
ISSN: 0890-6327
DOI: 10.1002/(sici)1099-1115(199601)10:1<1::aid-acs383>3.0.co;2-z

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✦ Synopsis

In this paper we present an adaptive output feedback controller for feedback linearizable non-linear systems. It employs a high-gain observer with estimate saturation which is crucial in achieving semiglobal asymptotic stabilization to the origin and, if the regressor vector is persistently exciting, exponential tracking of reference signals. A byproduct of this result is an exponentially stable adaptive observer for feedback linearizable non-linear systems. We show that in the absence of persistence of excitation the tracking error can be made as small as desired by increasing the observer and parameter adaptation gains. The same idea allows us to prove approximate tracking when the unknown parameters are varying at an arbitrary but bounded rate.

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