Command filtered adaptive output feedback design with novel Lyapunov-based analysis for nonlinear systems with unmodeled dynamics |
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| Institution: | 1. Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;2. School of Automation, Beijing Institute of Technology, Beijing 100081, China;3. State Key Laboratory of IoTSC, University of Macau, Taipa, Macau;1. College of Control Science and Engineering, Bohai University, Jinzhou 121013, Liaoning, China;2. School of Mathematical Sciences, Bohai University, Jinzhou 121013, China;3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China;2. Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu, 611731, China;1. School of Mathematics, Shandong University, Jinan, Shandong 250100, PR China;2. School of Management, Shandong University, Jinan, Shandong 250100, PR China;1. Intelligent Robotics and Automation Group, Federal University of Rio Grande, Rio Grande, Brazil;2. Power Electronics and Control Research Group, Federal University of Santa Maria, Santa Maria, Brazil |
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| Abstract: | This paper presents a novel Lyapunov function-based backstepping controller design to tackle the tracking problems for nonlinear systems with unmodeled dynamics and unmeasurable states. The coexistence of unmodeled dynamics and unmeasurable states is the main challenge, which calls for novel techniques to take these two factors into account simultaneously. First, the classical Luenberger observer is extended with a novel transformation function to decouple the original system state and state estimation error. In this way, the effect of unmodeled dynamics on system stability can be separately considered. On this basis, a command-filtered controller is designed to simplify the backstepping design procedures. It is worthy to pointed out that, a novel Lyapunov function is developed to simplify the stability analysis with command filter, where the filter errors, the observer error, compensated tracking errors, and parameter estimation errors can be guaranteed to be semi-globally uniformly ultimate bounded. The simulation studies are investigated to validate the effectiveness of the presented design scheme. |
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