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Robust adaptive output feedback control of nonlinearly parameterized systems |
| LIU Yusheng, LI Xingyuan |
| School of Electrical Engineering and Information Science, Sichuan University, Chengdu 610065, China; |
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Abstract The ideas of adaptive nonlinear damping and changing supply functions were used to counteract the effects of parameter and nonlinear uncertainties, unmodeled dynamics and unknown bounded disturbances. The high-gain observer was used to estimate the state of the system. A robust adaptive output feedback control scheme was proposed for nonlinearly parameterized systems represented by input-output models. The scheme does not need to estimate the unknown parameters nor add a dynamical signal to dominate the effects of unmodeled dynamics. It is proven that the proposed control scheme guarantees that all the variables in the closed-loop system are bounded and the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately. Simulation results have illustrated the effectiveness of the proposed robust adaptive control scheme.
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Issue Date: 05 September 2007
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