Robust output regulation for invertible nonlinear MIMO systems

被引：26

作者：

Wang, Lei ^{[1
,2
]}

Isidori, Alberto ^{[3
]}

Liu, Zhitao ^{[2
]}

Su, Hongye ^{[2
]}

机构：

[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore

[2] Zhejiang Univ, Inst Cyber Syst & Control, State Key Lab Ind Control Technol, Hangzhou, Zhejiang, Peoples R China

[3] Univ Roma La Sapienza, Dept Comp Control & Management Engn, Rome, Italy

来源：

AUTOMATICA | 2017年 / 82卷

基金：

中国国家自然科学基金;

关键词：

Multi-input multi-output systems; Invertibility; Output regulation; Internal model; Extended observers; INTERNAL-MODEL; STABILIZATION; DESIGN;

D O I：

10.1016/j.automatica.2017.04.049

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The robust output regulation problem for a class of invertible nonlinear MIMO systems is addressed in this paper. Under a mild assumption on the high-frequency gain matrix and strongly minimum-phase assumption, a robust regulator is proposed with the combination of nonlinear internal model and a new extended high-gain observer. More explicitly, the robust output regulation is achieved by employing a novel extended high-gain observer-based stabilizer such that the regulated system, augmented with the nonlinear internal model, is asymptotically stabilized. The novelty of this approach consists in the use of an extended observer to estimate, under mild assumptions, all unmeasured terms. (C) 2017 Elsevier Ltd. All rights reserved.

引用

页码：278 / 286

页数：9