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
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.833302
