Stabilization and tracking via output feedback for the nonlinear benchmark system

被引：17

作者：

Jiang, ZP ^{[1
]}

Hill, DJ ^{[1
]}

Guo, Y ^{[1
]}

机构：

[1] Univ Sydney, Dept Elect Engn, Sydney, NSW 2006, Australia

来源：

AUTOMATICA | 1998年 / 34卷 / 07期

基金：

澳大利亚研究理事会;

关键词：

nonlinear control; stabilization; tracking; semiglobal; output feedback; observers;

D O I：

10.1016/S0005-1098(98)00022-3

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we solve the problems of output-feedback semiglobal stabilization and tracking for the nonlinear benchmark RTAC example when the angle of the proof mass and/or the translational position of the cart are considered as the output. The proposed results complement previous work which requires exact knowledge of the translational and/or angular velocities but achieves global stabilization or global tracking. As is demonstrated in simulations, the output-feedback stabilizing and tracking controllers proposed in this paper yield performance as good as their counterparts with state feedback. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：907 / 915

页数：9

共 19 条

[1]

[Anonymous], 2013, Nonlinear control systems

[2]

BACCIOTTI A, 1992, IFAC NOLCOS 92 BORD, P21

[3]

Bupp R., 1995, P AM CONTR C SEATTL

[4]

ESCOBAR G, 1997, OUTPUT FEEDBACK GLOB

[5] Tracking controllers for systems linear in the unmeasured states [J].

Freeman, RA ;

Kokotovic, PV .

AUTOMATICA, 1996, 32 (05) :735-746

[6]

Hahn W., 1967, STABILITY MOTION

[7] TORA example: Cascade- and passivity-based control designs [J].

Jankovic, M ;

Fontaine, D ;

Kokotovic, PV .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1996, 4 (03) :292-297

[8] Tracking control of mobile robots: A case study in backstepping [J].

Jiang, ZP ;

Nijmeijer, H .

AUTOMATICA, 1997, 33 (07) :1393-1399

[9]

JIANG ZP, 1997, CONTROL97 SYDN

[10]

KANELLAKOPOULOS I, 1995, PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6, P4360

← 1 2 →