| 101B2 |
|---|
| The Control of Output Feedback Nonlinear Systems via High Gain Robust Adaptive Backstepping. |
| AUTHORS |
| Yuichi Tao, Ryuji Mitino, Ikuro Mizumoto, Zenta Iwai (Kumamoto University) |
| ABSTRACT |
| Recently a great deal of attention has been attracted to adaptive nonlinear control for uncertain and several robust adaptive control schemes for nonlinear systems have been proposed. In the case where one can utilize only the output signal of controlled system, however, most of the methods were based on backstepping methods with nonlinear observer. This sometimes causes the complexity of the controller structure. In this paper, we deal with a controller design problem for uncertain nonlinear systems. A robust adaptive control for an uncertain nonlinear system of the output-feedback form with higher relative degree will be proposed based on the high-gain adaptive output feedback and backstepping strategies. The proposed method can design the control system by only using the output information without adapptive nonlinear observer so that the resulting controller has rather simple structure compared with ordinary method. |
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Annual Conference 2002