Output Regulation of Invertible Nonlinear Systems via Robust Dynamic Feedback-Linearization

• 成果类型: Article
• 署名作者: Wu, Yuanqing; Isidori, Alberto; Lu, Renquan
• 署名单位: Guangdong University of Technology; Sapienza University Rome
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3050442
• 发表日期: 2021
• 页码: 5474-5481
• 关键词: MIMO communication; regulation; Mathematical model; aerodynamics; Design methodology; Output feedback; observers; Feedback-linearization; INVERTIBILITY; Nonlinear systems; output-regulation; performance recovery

摘要

In this article, we address a problem of output regulation for a broad class of invertible multi-input-multi-output (MIMO) nonlinear systems. The system that we consider is assumed to possess a globally defined normal form, in which appropriate invertibility conditions are fulfilled, and to be strongly minimum phase. Asymptotic output regulation is achieved by means of a controller consisting of a preprocessing internal model and of a robust stabilizer. For the design of the latter, a recently developed method is proposed, consisting of interlaced design of dynamic extensions and extended observers that provides a robust version of standard stabilization methods based on feedback-linearization. The method does not presume the knowledge of an accurate model of the plant and only needs access to the regulated variables.