Output-Feedback Stabilization for Nonlinear Systems with Unmeasured States Dependent Growth

In this paper, the globally asymptotical output-feedback stabilization problem is investigated for a class of nonlinear systems with unmeasured states dependent growth and stable zero-dynamics. Because it is difficult to directly carry out the output-feedback control design for the system under consideration, a series of novel linear transformations are first defined to successfully separate the zero-dynamics from the original system, and the new system is thus derived which is convenient for the output-feedback design. Then, a simple design procedure is given for the output-feedback control of the transformed new system. This procedure is developed by extending the methods by H.L. Choi and J.T. Lim (2005), rather than the backstepping approach by P. Krishnamurthy et al. (2001). Besides, the globally asymptotical stability of the closed-loop system can be ensured by the positive definiteness of the derived matrix.

[1]  Petar V. Kokotovic,et al.  Nonlinear observers: a circle criterion design and robustness analysis , 2001, Autom..

[2]  Murat Arcak,et al.  Constructive nonlinear control: a historical perspective , 2001, Autom..

[3]  I. Kanellakopoulos,et al.  Systematic Design of Adaptive Controllers for Feedback Linearizable Systems , 1991, 1991 American Control Conference.

[4]  Z. Artstein.  Stabilization with relaxed controls , 1983 .

[5]  W. Dayawansa,et al.  Global stabilization by output feedback: examples and counterexamples , 1994 .

[6]  Wei Lin,et al.  Output feedback control of a class of nonlinear systems: a nonseparation principle paradigm , 2002, IEEE Trans. Autom. Control..

[7]  Prashanth Krishnamurthy,et al.  Global adaptive output feedback tracking for nonlinear systems linear in unmeasured states , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[8]  Zhong-Ping Jiang,et al.  Linear output feedback with dynamic high gain for nonlinear systems , 2004, Syst. Control. Lett..

[9]  Tzyh Jong Tarn,et al.  Exponential Observers for Nonlinear Dynamic Systems , 1975, Inf. Control..

[10]  Riccardo Marino,et al.  Nonlinear control design: geometric, adaptive and robust , 1995 .

[11]  Jie Huang,et al.  Global output feedback stabilization for uncertain nonlinear systems with output dependent incremental rate , 2004, Proceedings of the 2004 American Control Conference.

[12]  Arthur J. Krener,et al.  Linearization by output injection and nonlinear observers , 1983 .

[13]  Murat Arcak,et al.  Observer design for systems with multivariable monotone nonlinearities , 2003, Syst. Control. Lett..

[14]  Jong-Tae Lim,et al.  Stabilization of a class of nonlinear systems by adaptive output feedback , 2005, Autom..

[15]  Nahum Shimkin,et al.  Nonlinear Control Systems , 2008 .

[16]  Petar V. Kokotovic,et al.  Observer-based control of systems with slope-restricted nonlinearities , 2001, IEEE Trans. Autom. Control..