Adaptive Output Feedback Funnel Control of Uncertain Nonlinear Systems With Arbitrary Relative Degree

• 成果类型: Article
• 署名作者: Liu, Yong-Hua; Su, Chun-Yi; Li, Hongyi
• 署名单位: Guangdong University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3012027
• 发表日期: 2021
• 页码: 2854-2860
• 关键词: Output feedback; Adaptive systems; Nonlinear systems; Lyapunov methods; transient analysis; Feeds; Adaptive control; barrier Lyapunov function; funnel control; uncertain nonlinear systems

摘要

This article considers the problem of output feedback funnel control for a class of uncertain nonlinear systems with arbitrary known relative degree. By utilizing the funnel control approach with a barrier Lyapunov function, a novel adaptive output feedback controller is constructed recursively, which accomplishes the output tracking with prescribed transient behavior. The developed control scheme features that the precise knowledge of system nonlinearities, including generally required bounding functions, is not needed. A physical example is performed to verify the effectiveness of the proposed theoretical findings.