Robust nonlinear output feedback control for systems with unknown integrator gains

• Published in: Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) Vol. 3; pp. 2346 - 2347 vol.3
• Main Authors: Cheng, T.M., Clements, D.J., Eaton, R.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2002
• Subjects: Applied sciences; Backstepping; Computer science; control theory; systems; Control nonlinearities; Control systems; Control theory. Systems; Exact sciences and technology; Nonlinear control systems; Nonlinear systems; Output feedback; Robust control; Robustness; Telecommunication control; Uncertainty; Control system; Non linear control; Feedback regulation; Nonlinear problems; Non linear system; Robust control; Reduced state; Scaling; Integrator; Stabilization system; Reduced order systems; System identification; Output feedback
• ISBN: 0780372980; 9780780372986
• ISSN: 0743-1619; 2378-5861
• DOI: 10.1109/ACC.2002.1023991

This paper shows that an output feedback stabilization problem for nonlinear systems with unknown constant integrator gains or virtual control coefficients can be reformulated in a simple procedure. As a consequence, existing robust adaptive backstepping techniques can be applied, hence all the closed loop states are globally bounded and the output can be made arbitrarily small. The procedure presented involves the scaling of unmeasured states and designing a reduced order observer.