| Autor: |
Ioannis Kanellakopoulos, Yaolong Tan |
| Rok vydání: |
1999 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 32:2363-2368 |
| ISSN: |
1474-6670 |
| DOI: |
10.1016/s1474-6670(17)56401-0 |
| Popis: |
We present a procedure for global adaptive output-feedback stabilization and tracking of a class of nonlinear systems that can be transformed via a global diffeomorphism into systems thai are linear up to output injection and linear with respect to the unknown parameters. Compared to the well-known class of parametric output-feedback systems, our extended class allows output-dependent nonlinearities to appear not only additively, but also multiplicatively. The procedure consists in the construction of a nonlinear coordinate transformation that allows us to design a nonlinear observer, which is then integrated with a backstepping controller and a parameter estimator to yield a globally stable closed-loop system. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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