Paper Info
Title
Output Feedback Control for a Class of Uncertain MIMO Nonlinear Systems With Non-Symmetric Input Gain Matrix
Abstract
In this paper, a new continuous output feed- back control mechanism is developed for out- put tracking for a class of high-order multi- input nonlinear systems with an input gain ma- trix that is positive definite but non-symmetric. The controller yields semiglobal uniformly ulti- mately bounded (SGUUB) tracking while com- pensating for unstructured uncertainty in both the drift vector and the input matrix. First, a full-state feedback controller is designed based on limited assumptions on the structure of the sys- tem nonlinearities and the controller is proven to yield SGUUB tracking through a Lyapunov- based analysis. Then, an output feedback control design based on a high gain observer is proposed. A comprehensive stability analysis of the closed- loop system under output feedback is carried out and a recovery of the state feedback SGUUB re- sult is demonstrated for the output feedback con- trol system. Neural network estimation method is employed in both state and output feedback control design to feedforward compensate for the nonlinear system uncertainty.
Year
DOI
Venue
2005
10.1109/CDC.2005.1583416
Conference on Decision and Control
Keywords
DocType
ISSN
adaptive control,stability analysis,control systems,mimo,nonlinear system,positive definite,nonlinear systems,neural network,uncertainty
Conference
0743-1546
ISBN
Citations 
PageRank 
0-7803-9567-0
13
1.53
References 
Authors
10
4
Name
Order
Citations
PageRank
Xin Zhang159160.75
A. Behal2796.34
D. M. Dawson341239.31
Xian, B.4151.92