제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Robust Adaptive Output Feedback Control for Nonlinear Systems with Higher Order Relative Degree

  • Michino, Ryuji (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Mizumoto, Ikuro (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Tao, Yuichi (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Iwai, Zenta (Department of Mechanical Engineering and Materials Science, Kumamoto University) ;
  • Kumon, Makoto (Department of Mechanical Engineering and Materials Science, Kumamoto University)
  • Published : 2003.10.22
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, it is dealt with a controller design problem for nonlinear systems with higher order relative degree. A robust adaptive control for uncertain nonlinear systems with stable zero dynamics will be proposed based on the high-gain adaptive output feedback and backstepping strategies. The proposed method is useful in the case where only the output signal is available.

Keywords