An Output Feedback Stabilizer for Uncertain MIMO Nonlinear Systems: Nonlinear Nominal Input Gain Function

• 成果类型: Article
• 署名作者: Ha, Wonseok; Back, Juhoon
• 署名单位: Kwangwoon University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3144307
• 发表日期: 2023
• 页码: 524-531
• 关键词: Disturbance rejection; multi-input-multi-output (MIMO) system; nonlinear system; output feedback stabilization; Robust control

摘要

This article presents a robust output feedback stabilizer for multi-input-multi-output nonlinear systems subject to external disturbances and system uncertainties. We assume that the system has a well-defined vector relative degree and the zero dynamics is input-to-state stable. Based on the assumption that there exists a state feedback controller that makes the origin of the nominal closed-loop system asymptotically stable, we present an output feedback stabilizer that recovers the stability of the nominal closed-loop system in the practical sense. We allow that the nominal system can have a nonlinear input gain matrix that is a function of system state, and this is done by modifying the structure of the disturbance observer-based robust outputfeedback controller. Simulation results on a practical system are included to validate the proposed controller.