Output regulation of uncertain nonlinear systems with nonlinear exosystems

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    Abstract

    An adaptive control algorithm is proposed for output regulation of uncertain nonlinear systems in output feedback form under disturbances generated from nonlinear exosystems. A new nonlinear internal model is proposed to generate the desired input term for suppression of the disturbances. The proposed internal model design is based on boundedness of the disturbance, high gain design and saturation. It is capable to tackle disturbances in any specified initial conditions. Some uncertainties in the systems are allowed, provided that they do not affect the desired feedforward control term, and they are tackled by using nonlinear dominant functions and an adaptive control coefficient. The proposed control algorithm ensures the global convergence of the state variables to the invariant manifold, which implies that the measurement or the tracking error approaches to zero asymptotically. © 2006 IEEE.
    Original languageEnglish
    Pages (from-to)498-503
    Number of pages5
    JournalIEEE Transactions on Automatic Control
    Volume51
    Issue number3
    DOIs
    Publication statusPublished - Mar 2006

    Keywords

    • Disturbance rejection
    • Nonlinear exosystems
    • Nonlinear systems
    • Output regulation
    • Uncertainly

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