Global output feedback tracking for nonlinear systems in generalized output-feedback canonical form

• Published in: IEEE transactions on automatic control Vol. 47; no. 5; pp. 814 - 819
• Main Authors: Krishnamurthy, P., Khorrami, F., Jiang, Z.P.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.05.2002; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Applied sciences; Backstepping; Canonical forms; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Dynamical systems; Exact sciences and technology; Linear systems; Nonlinear dynamics; Nonlinear systems; Observers; Output feedback; Robot control; Robot kinematics; State feedback; Tracking; Output feedback; Non linear observer; Canonical form
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2002.1000279

A global output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the first global output-feedback tracking results for this class of systems.