Adaptive Output Feedback Funnel Control of Uncertain Nonlinear Systems With Arbitrary Relative Degree
Yonghua Liu, Chun‐Yi Su, Hongyi Li
Abstract
This article considers the problem of output feedback funnel control for a class of uncertain nonlinear systems with arbitrary known relative degree. By utilizing the funnel control approach with a barrier Lyapunov function, a novel adaptive output feedback controller is constructed recursively, which accomplishes the output tracking with prescribed transient behavior. The developed control scheme features that the precise knowledge of system nonlinearities, including generally required bounding functions, is not needed. A physical example is performed to verify the effectiveness of the proposed theoretical findings.
Topics & Concepts
FunnelControl theory (sociology)Bounding overwatchNonlinear systemAdaptive controlBacksteppingLyapunov functionController (irrigation)Degree (music)Computer scienceControl systemNonlinear controlAdaptive systemMathematicsControl (management)EngineeringArtificial intelligenceQuantum mechanicsAcousticsMechanical engineeringElectrical engineeringPhysicsBiologyAgronomyAdaptive Control of Nonlinear SystemsGuidance and Control SystemsAerospace Engineering and Control Systems