Global practical tracking via adaptive outputfeedback for uncertain nonlinear systems with generalized control coefficients  

作　　者：Shaoli JIN Yungang LIU 

机构地区：[1]School of Control Science and Engineering,Shandong University,Jinan 250061,China

出　　处：《Science China(Information Sciences)》2016年第1期185-197,共13页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China(Grant Nos.61325016;61273084;61233014);Natural Science Foundation for Distinguished Young Scholars of Shandong Province of China(Grant No.JQ200919);the Independent Innovation Foundation of Shandong University(Grant No.2012JC014)

摘　　要：This paper investigates the global practical tracking via adaptive output-feedback for a class of uncertain nonlinear systems with generalized control coefficients. Notably, the system in question has the function-of-output control coefficients and the serious unknowns in the system and the reference signal, and hence is essentially different from the existing closely related literature. To solve the global practical tracking, a high-gain observer is first introduced to reconstruct the unmeasurable system states, and then an adaptive output-feedback controller is designed. It is worth emphasizing that the gains in the designed observer and controller are functions of time and output, for which a novel updating law of the high-gain is introduced to overcome the additional system nonlinearities and the serious unknowns mentioned above. The designed controller is shown such that all the states of the closed-loop system are globally bounded, and furthermore, tracking error will be ultimately prescribed sufficiently small. A numerical simulation is provided to demonstrate the effectiveness of the proposed approach.This paper investigates the global practical tracking via adaptive output-feedback for a class of uncertain nonlinear systems with generalized control coefficients. Notably, the system in question has the function-of-output control coefficients and the serious unknowns in the system and the reference signal, and hence is essentially different from the existing closely related literature. To solve the global practical tracking, a high-gain observer is first introduced to reconstruct the unmeasurable system states, and then an adaptive output-feedback controller is designed. It is worth emphasizing that the gains in the designed observer and controller are functions of time and output, for which a novel updating law of the high-gain is introduced to overcome the additional system nonlinearities and the serious unknowns mentioned above. The designed controller is shown such that all the states of the closed-loop system are globally bounded, and furthermore, tracking error will be ultimately prescribed sufficiently small. A numerical simulation is provided to demonstrate the effectiveness of the proposed approach.

关 键 词：uncertain nonlinear systems function-of-output control coefficients global practical tracking dy-namical high-gain adaptive output-feedback 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]