Title :
Global output-feedback tracking for a benchmark nonlinear system
Author :
Jiang, Zhong-Ping ; Kanellakopoulos, Ioannis
Author_Institution :
Dept. of Electr. Eng., Polytech. Univ., Brooklyn, NY, USA
fDate :
5/1/2000 12:00:00 AM
Abstract :
The output-feedback global tracking problem is solved for the well-known nonlinear benchmark RTAC (rotational-translational actuator) system, in which one of the unmeasured states appears quadratically in the state equations. Our observer/controller backstepping design yields a nonlinear output-feedback controller that forces the translational displacement to globally asymptotically track an appropriate time-varying signal. The proposed solution is new even for the case of global output-feedback stabilization, namely when the reference signal is zero
Keywords :
actuators; closed loop systems; control system synthesis; feedback; nonlinear control systems; observers; robust control; time-varying systems; tracking; benchmark nonlinear system; global asymptotic tracking; global output-feedback stabilization; global output-feedback tracking; nonlinear output-feedback controller; observer/controller backstepping design; rotational-translational actuator system; translational displacement; Actuators; Backstepping; Control systems; Displacement control; Force control; Mechanical systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Output feedback;
Journal_Title :
Automatic Control, IEEE Transactions on
