Robust Output Feedback Controller Scheme for a Class of Uncertain Nonlinear Systems
نویسندگان
چکیده
In this study, we present a new continuous output feedback type controller mechanism for the tracking problem of a class of uncertain nonlinear systems. The proposed strategy requires the uncertainties of the dynamical system to be first order differentiable and achieves semi-global asymptotic tracking when only the system outputs are measurable. The Controller design is based on a Lyapunov-type stability argument. Simulation studies on a two link planar robotic system are presented to illustrate the feasibility of the proposed strategy.
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تاریخ انتشار 2008