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首页> 外文期刊>IEEE Transactions on Automatic Control >Nonlinear output feedback tracking with almost disturbance decoupling
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Nonlinear output feedback tracking with almost disturbance decoupling

机译：具有几乎扰动解耦的非线性输出反馈跟踪

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Addresses the design of global output feedback controls for a class of uncertain nonlinear single-input/single-output systems which are globally transformable into an observable minimum phase system whose nonlinearities depend on the output only. They may be affected by unknown time-varying disturbances or parameter variations entering linearly in the state equations. The proposed dynamic controller is of order /spl rho/-1 (/spl rho/ is the relative degree of the given system) and ensures that the closed-loop system enjoys for any initial condition and for any smooth bounded output reference signal (with bounded time derivatives up to order /spl rho/) the following properties: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances both on the L/sub 2/ and on the L/sub /spl infin// norm of the output tracking error is arbitrarily attenuated by increasing a positive scalar control parameter. When disturbances are zero the reference signal is exponentially tracked by the output and the equilibrium point corresponding to the reference signal is globally asymptotically stable.
机译：解决了一类不确定的非线性单输入/单输出系统的全局输出反馈控制的设计问题，这些系统可以全局转换为可观察的最小相位系统，其非线性仅取决于输出。它们可能会受到未知的时变干扰或状态方程中线性输入的参数变化的影响。所提出的动态控制器的阶数为/ spl rho / -1（/ spl rho /是给定系统的相对度），并确保闭环系统在任何初始条件和任何平滑有界输出参考信号（有界时间导数，直至（spl rho /）阶，具有以下特性：干扰输入的输入到状态稳定性和几乎干扰去耦，即，干扰对L / sub 2 /和L /的影响通过增加正标量控制参数可以任意衰减输出跟踪误差的sub / spl infin //范数。当干扰为零时，输出将以指数方式跟踪参考信号，并且与参考信号相对应的平衡点在全局上渐近稳定。

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