Previous Articles     Next Articles

Global Output-Feedback Tracking for Nonlinear Cascade Systems with Unknown Growth Rate and Control Coefficients

YAN Xuehua1, LIU Yungang2 , WANG Qingguo3   

  1. 1.School of Electrical Engineering, University of Jinan, Jinan 250022, China; School of Control Science and Engineering, Shandong University, Jinan 250061, China.; 2.School of Control Science and Engineering, Shandong University, Jinan 250061, China.; 3.Department of Electrical and Computer Engineering, National University of Singapore, Singapore 119260, Singapore.
  • Online:2015-02-25 Published:2015-03-10

YAN Xuehua, LIU Yungang,WANG Qingguo. Global Output-Feedback Tracking for Nonlinear Cascade Systems with Unknown Growth Rate and Control Coefficients[J]. Journal of Systems Science and Complexity, 2015, 28(1): 30-46.

This paper deals with the global practical tracking problem by output-feedback for a class of uncertain cascade systems with zero-dynamics and unmeasured states dependent growth. The systems investigated are substantially different from the closely related works, and have zero-dynamics, unknown growth rate, and unknown time-varying control coefficients. This makes the problem much more difficult to solve. Motivated by the authors’ recent works, this paper proposes a new adaptive control scheme to achieve the global practical tracking. It is shown that the designed controller guarantees that the state of the resulting closed-loop system is globally bounded and the tracking error converges to a prescribed arbitrarily small neighborhood of the origin after a finite time. This is achieved by combining the methods of universal control and dead zone with backstepping technique, and using the framework of performance analysis in the closely related works. A numerical example demonstrates the effectiveness of the theoretical results.

No related articles found!
Viewed
Full text


Abstract