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Sampled-Data Semi-Global Robust Output Regulation for a Class of Nonlinear Systems

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Abstract

This paper investigates the semi-global robust output regulation problem for a class of uncertain nonlinear systems via a sampled-data output feedback control law. What makes the results interesting is that the nonlinearities of the proposed system do not have to satisfy linear growth condition and the uncertain parameters of our system are allowed to belong to some arbitrarily large prescribed compact subset. Two cases are considered. The first case is that the exogenous signal is constant. The second case is that the exogenous signal is time-varying and bounded. For the first case, the authors solve the problem exactly in the sense that the tracking error approaches zero asymptotically. For the second case, the authors solve the problem practically in the sense that the steady-state tracking error can be made arbitrarily small. Finally, an example is given to illustrate the effectiveness of our approach.

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Authors and Affiliations

  1. School of Automation Science and Engineering, South China University of Technology, Guangzhou, 510641, China

    Wei Liu

  2. Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen, 518057, China

    Jie Huang

  3. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong, 999077, China

    Jie Huang

Authors
  1. Wei Liu
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  2. Jie Huang
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Corresponding author

Correspondence to Jie Huang.

Additional information

This work was supported in part by the Research Grants Council of the Hong Kong Special Administration Region under Grant No. 14202619, in part by the National Natural Science Foundation of China under Grant No. 61633007, and in part by the National Natural Science Foundation of China under Grant No. 61973260.

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Liu, W., Huang, J. Sampled-Data Semi-Global Robust Output Regulation for a Class of Nonlinear Systems. J Syst Sci Complex 34, 1743–1765 (2021). https://doi.org/10.1007/s11424-021-1165-2

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  • DOI: https://doi.org/10.1007/s11424-021-1165-2

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