Tracking controllers for systems linear in the unmeasured states

被引：65
作者：
Freeman, RA
Kokotovic, PV
机构：
[1] Ctr. for Contr. Eng. and Computation, Dept. of Elec. and Comp. Engineering, University of California, Santa Barbara
来源：
AUTOMATICA | 1996年 / 32卷 / 05期
关键词：
nonlinear systems; global stability; tracking; disturbance rejection; dynamic output feedback; Lyapunov methods;
D O I：
10.1016/0005-1098(95)00193-X
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system. Copyright (C) 1996 Elsevier Science Ltd.
引用
收藏
页码：735 / 746
页数：12
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