Regular Papers

International Journal of Control, Automation and Systems 2003; 1(1): 19-27

© The International Journal of Control, Automation, and Systems

Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term

Ryuji Michino/ Ikuro Mizumoto/Zenta Iwai/Makoto Kumon

Abstract

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. 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 design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

Keywords Adaptive control, high gain output feedback control, uncertain nonlinearity, nonlinear systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2003; 1(1): 19-27

Published online March 1, 2003

Copyright © The International Journal of Control, Automation, and Systems.

Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term

Ryuji Michino/ Ikuro Mizumoto/Zenta Iwai/Makoto Kumon

Abstract

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. 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 design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

Keywords: Adaptive control, high gain output feedback control, uncertain nonlinearity, nonlinear systems.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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