Funnel control for nonlinear systems with arbitrary relative degree using high-gain observers
نویسندگان
چکیده
منابع مشابه
Funnel control for nonlinear systems with known strict relative degree
We consider tracking control for nonlinear multi-input, multi-output systems which have arbitrary strict relative degree and stable internal dynamics. For a given sufficiently smooth reference signal, our aim is to design a controller which achieves that the tracking error evolves within a prespecified performance funnel. To this end, we introduce a new controller which involves the first r− 1 ...
متن کاملFunnel Control for Systems with Relative Degree Two
Tracking of reference signals yref(·) by the output y(·) of linear (as well as a considerably large class of nonlinear) single-input, single-output system is considered. The system is assumed to have strict relative degree two with (“weak”) stable zero dynamics. The control objective is tracking of the error e = y− yref and its derivative ė within two prespecified performance funnels, resp. Thi...
متن کاملOn Output Feedback Nonlinear Model Predictive Control Using High Gain Observers for a Class of Systems
In recent years, nonlinear model predictive control schemes have been derived that guarantee stability of the closed loop under the assumption of full state information. However, only limited advances have been made with respect to output feedback in connection to nonlinear predictive control. Most of the existing approaches for output feedback nonlinear model predictive control do only guarant...
متن کاملSampled-data iterative learning control for nonlinear systems with arbitrary relative degree
In this paper, a sampled-data iterative learning control method is proposed for nonlinear systems without restriction on system relative degree. The learning algorithm does not require numerical di!erentiations of any order from the tracking error. A su$cient condition is derived to guarantee the convergence of the system output at each sampling instant to the desired trajectory. Numerical simu...
متن کاملGlobal Output-Feedback Extremum Seeking Control for Nonlinear Systems with Arbitrary Relative Degree
An output-feedback sliding mode based extremum seeking controller was recently introduced for linear uncertain systems by using periodic switching functions. Nonlinear systems were also considered but restricted to relative degree one plants as well as the former linear case. Here, generalization is achieved to include more general dynamics with arbitrary relative degree. Global stability prope...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Automatica
سال: 2019
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2019.03.012