Sufficient conditions for global output regulation of nonlinear interconnected systems

被引：3
作者：
Battilotti, S [1 ]
机构：
[1] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy
来源：
AUTOMATICA | 1999年 / 35卷 / 05期
关键词：
global output regulation; interconnected dynamics; elastic joint and rigid robots;
D O I：
10.1016/S0005-1098(98)00213-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we study the problem of globally regulating a class of nonlinear systems resulting from interconnecting three kind of dynamics: a "good" one, linear with respect to the states not available for feedback, a "bad" one, generally nonlinear, and a bounded-input-bounded-output (BIBO) one. We give some generalizations over previous works with coauthors and, as an application, we consider two physical examples: elastic joint robots and rigid robots driven by synchronous motors. (C) 1999 Elsevier Science Ltd. All rights reserved.
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页码：829 / 835
页数：7
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