Output-feedback Dynamic Surface Control for a Class of Nonlinear Non-minimum Phase Systems |
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| Authors: | Shanwei Su |
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| Affiliation: | Research Institute of Unmanned Aerial Vehicle, Beihang University, Beijing 100191, China |
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| Abstract: | In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems. To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control (DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller. |
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| Keywords: | Non-minimum phase system output-feedback trajectory tracking internal dynamics dynamic surface control (DSC) |
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