Funnel control for nonlinear systems with arbitrary relative degree using high-gain observers

被引：56

作者：

Chowdhury, Dhrubajit ^{[1
]}

Khalil, Hassan K. ^{[1
]}

机构：

[1] Michigan State Univ, Dept Elect & Comp Engn, 428 S Shaw Lane, E Lansing, MI 48824 USA

来源：

AUTOMATICA | 2019年 / 105卷

基金：

美国国家科学基金会;

关键词：

Performance funnel; High-gain observers; Nonlinear systems; TRACKING CONTROL;

D O I：

10.1016/j.automatica.2019.03.012

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 propose a new algorithm for controlling the transient behavior of the tracking error for nonlinear systems with arbitrary relative degree. In tracking problems, the transient behavior of the error is more important than the behavior of its derivatives. We introduce a concept of virtual output, which converts an arbitrary relative degree system into a relative degree one system. The virtual output is chosen in such a way that the difference between the virtual output and the tracking error can be made arbitrarily small all the time. Assuming that the state derivatives are not available for feedback we use a high-gain observer to estimate the derivatives and construct the virtual output. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页码：107 / 116

页数：10

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