Semi-global robust stabilization of MIMO nonlinear systems by partial state and dynamic output feedback

被引：54

作者：

Lin, W ^{[1
]}

Qian, CJ ^{[1
]}

机构：

[1] Case Western Reserve Univ, Dept Elect Engn & Comp Sci, Cleveland, OH 44106 USA

来源：

AUTOMATICA | 2001年 / 37卷 / 07期

基金：

美国国家科学基金会;

关键词：

semi-global stabilization; partial state feedback; dynamic output feedback; MIMO nonlinear systems; high-gain observer;

D O I：

10.1016/S0005-1098(01)00056-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We study the problem of semi-global robust stabilization for a class of multi-input multi-output (MIMO) uncertain nonlinear systems which cannot be transformed, via a change of coordinates and a state feedback, into a lower dimensional zero dynamics driven by a set of chains of integrators, but more complicated interconnected structures. The systems considered here, which distinguish from those studied early in the literature, possess a new feature that they are non-affine in the control inputs. Sufficient conditions are presented for the existence of a linear high-gain partial state controller and/or a nonlinear dynamic output compensator, achieving robust semi-global asymptotic stability. Both the partial state and output dynamic controllers are also explicitly constructed. (C) 2001 Elsevier Science Ltd. All rights reserved.

引用

页码：1093 / 1101

页数：9

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