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

Volume

5

fYear

1999

fDate

1999

Firstpage

4802

Abstract

The output-feedback global tracking problem is solved for the well-known nonlinear benchmark RTAC (rotational-translational actuator) system, where 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

control system synthesis; feedback; nonlinear control systems; observers; position control; stability; state-space methods; tracking; global output-feedback tracking; nonlinear benchmark rotational-translational actuator system; nonlinear output-feedback controller; observer-controller backstepping design; state equations; time-varying signal; translational displacement; unmeasured states; Actuators; Asymptotic stability; Backstepping; Control systems; Equations; Force control; Mechanical systems; Nonlinear systems; Output feedback; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.833302

Filename

833302