具有未知输出函数的非线性系统全局输出反馈控制

Global output feedback control of nonlinear systems with unknown output function

研究了一类具有未知输出函数的非线性系统全局输出反馈控制问题.由于输出函数未知,传统的观测器将无法实现.为解决这个问题,首先设计了一个与输出函数无关的状态补偿器,使得标称线性系统全局渐近稳定.然后,应用齐次控制方法通过适当选择增益参数,使得不确定非线性系统在有限时间内全局渐近稳定.数值算例表明该算法的有效性.

This paper addresses the problem of global output feedback stabilization of a class of nonlinear systems with unknown output function. Since the output function is not precisely known, traditional observers based on the output is not implementable. To tackle the problem, a state compensator independent of the output function is designed at first and the compensator states are used to globally stabilize the nominal linear system without the perturbing nonlinearities. Then, the homogeneous domination approach is applied to design a scaled homogeneous compensator and controller with an appropriately selected gain to make the uncertain nonlinear system globally finite-time stable. The numerical example shows the validity of the proposed method.