A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems

Choon Ki Ahn; Beom Soo Kim; Myo Taeg Lim

doi:10.3182/20020721-6-es-1901.01061

A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems

Choon Ki Ahn, Beom Soo Kim, Myo Taeg Lim

School of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we present a global adaptive output feedback control scheme for a class of 3rd-order uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. In contrast to the existing output feedback form, the allowed extended output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design technique employs a change of coordinates and adaptive backstepping. With these proposed tools, we can remove linear and quadratic dependence on the unmeasured states in the state equation. Also, the multiplication of the two unmeasured states can be eliminated. From the transformed systems, a state observer can be constructed in a very easy way. The overall scheme achieves globally exponential convergence of the tracking error to zero while maintaining global boundedness of all the signals and states.

Original language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Editors	Gabriel Ferrate, Eduardo F. Camacho, Luis Basanez, Juan. A. de la Puente
Publisher	IFAC Secretariat
Pages	451-456
Number of pages	6
Edition	1
ISBN (Print)	9783902661746
DOIs	https://doi.org/10.3182/20020721-6-es-1901.01061
Publication status	Published - 2002
Event	15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain Duration: 2002 Jul 21 → 2002 Jul 26

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1
Volume	15
ISSN (Print)	1474-6670

Other

Other	15th World Congress of the International Federation of Automatic Control, 2002
Country/Territory	Spain
City	Barcelona
Period	02/7/21 → 02/7/26

Bibliographical note

Publisher Copyright:
Copyright © 2002 IFAC.

Keywords

A change of coordinates
Adaptive backstepping
Output feedback
State observer
Unmeasured states

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20020721-6-es-1901.01061

Cite this

Ahn, C. K., Kim, B. S., & Lim, M. T. (2002). A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. In G. Ferrate, E. F. Camacho, L. Basanez, & J. A. de la Puente (Eds.), IFAC Proceedings Volumes (IFAC-PapersOnline) (1 ed., pp. 451-456). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1). IFAC Secretariat. https://doi.org/10.3182/20020721-6-es-1901.01061

A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. / Ahn, Choon Ki; Kim, Beom Soo; Lim, Myo Taeg.
IFAC Proceedings Volumes (IFAC-PapersOnline). ed. / Gabriel Ferrate; Eduardo F. Camacho; Luis Basanez; Juan. A. de la Puente. 1. ed. IFAC Secretariat, 2002. p. 451-456 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 15, No. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ahn, CK, Kim, BS & Lim, MT 2002, A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. in G Ferrate, EF Camacho, L Basanez & JA de la Puente (eds), IFAC Proceedings Volumes (IFAC-PapersOnline). 1 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 1, vol. 15, IFAC Secretariat, pp. 451-456, 15th World Congress of the International Federation of Automatic Control, 2002, Barcelona, Spain, 02/7/21. https://doi.org/10.3182/20020721-6-es-1901.01061

Ahn CK, Kim BS, Lim MT. A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. In Ferrate G, Camacho EF, Basanez L, de la Puente JA, editors, IFAC Proceedings Volumes (IFAC-PapersOnline). 1 ed. IFAC Secretariat. 2002. p. 451-456. (IFAC Proceedings Volumes (IFAC-PapersOnline); 1). doi: 10.3182/20020721-6-es-1901.01061

Ahn, Choon Ki ; Kim, Beom Soo ; Lim, Myo Taeg. / A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems. IFAC Proceedings Volumes (IFAC-PapersOnline). editor / Gabriel Ferrate ; Eduardo F. Camacho ; Luis Basanez ; Juan. A. de la Puente. 1. ed. IFAC Secretariat, 2002. pp. 451-456 (IFAC Proceedings Volumes (IFAC-PapersOnline); 1).

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A nonlinear transformation approach to global adaptive output feedback control of 3rd-order uncertain nonlinear systems

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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