一类增长线性地依赖于不可测状态不确定非线性系统输出反馈控制

研究了一类具有不确定控制系数, 稳定零动态和增长线性依赖于不可测状态非线性系统的输出反馈全局镇定问题. 首先引入两种恰当的状态变换, 将原系统变为具有确定虚拟控制系数和分离零动态的新系统. 然后, 构造了基于高增益K-滤波器的恰当观测器, 并且应用反推技术成功设计了输出反馈控制器. 通过选择恰当的设计参数, 可以保证闭环系统的全局渐近稳定性. 给出的仿真算例验证了理论结果的正确性和所提出方法的有效性.

Output-feedback Control for a Class of Uncertain Nonlinear Systems with Linearly Unmeasured States Dependent Growth

This paper is devoted to the problem of global stabilization by output-feedback for a class of nonlinear systems with uncertain control coefficients, stable zero-dynamics, and linearly unmeasured states dependent growth. First, by introducing two kinds of appropriate state transformations, the original system is converted into a new system with deterministic virtual control coefficients and the separated zero-dynamics. Then, a suitable observer based on high-gain K-filters is constructed for the new system, and the backstepping design approach is successfully proposed to the output-feedback controller. It is shown that the global asymptotic stability of the closed-loop system can be guaranteed by the appropriate choice of the design parameters. A simulation example is also provided to show the correctness of the theoretical results and the effectiveness of the proposed approach.