Abstract
Robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers: the first to estimate the feedback linearization error based on the full state information and the second to estimate the unmeasured states of the system when only the system output is available for feedback. All the signals in the closed loop are guaranteed to be uniformly ultimately bounded (UUB) and the output of the system is proven to converge to a small neighborhood of the origin. The proposed approach not only handles the difficulty in controlling non-affine nonlinear systems but also simplifies the stability analysis of the closed loop due to its linear control structure. Simulation results show the effectiveness of the approach.
Similar content being viewed by others
References
ZHOU Hai-bo, YING Hao, DUAN Ji-an. Adaptive control using interval Type-2 fuzzy logic for uncertain nonlinear systems [J]. Journal of Central South University of Technology, 2011, 18: 760–766.
BELARBI K, CHEMACHEMA M. Stable direct adaptive neural network controller with a fuzzy estimator of the control error for a class of perturbed nonlinear systems [J]. IEE Proc Control Theory Applications, 2007, 1(5): 1398–1404.
PARK J H, KIM S H, MOOM C J. Adaptive neural control for strict-feedback nonlinear systems without backstepping [J]. IEEE Transactions on Neural Networks, 2009, 20(7): 1204–1209.
GE S S, HANG C C, ZHANG T. Nonlinear adaptive control using neural networks and its application to CSTR systems [J]. Journal of Process Control, 1999, 9(4): 313–323.
HSU C T, CHEN S L. Nonlinear control of a 3-pole active magnetic bearing system [J]. Automatica, 2003, 39: 291–298.
SHIRLIAEV A S, LUDVIGSEN H, EGELAND O, FRADKOV A L. Swinging up of non-affine in control pendulum [C]// Proc American Control Conf. San Diego, California, USA, 1999: 4039–4044.
GOH C J. Model reference control of nonlinear systems via implicit function emulation [J]. Int J Control, 1994, 60: 91–115.
GOH C J, LEE T H. Direct adaptive control of nonlinear systems via implicit function emulation [J]. Control Theory and Advance Technology, 1994, 10(3): 539–552.
CALISE A J, HOVAKIMYAN N, IDAN M. Adaptive output feedback control of nonlinear systems using neural networks [J]. Automatica, 2001, 37: 1201–1211.
HOVAKIMYAN N, NARDI F, CALISE A J. A novel error observer-based adaptive output feedback approach for control of uncertain systems [J]. IEEE Trans Automatic Control, 2002, 47(8): 1310–1314.
PARK J H, KIM S H. Direct adaptive output-feedback fuzzy controller for a nonaffine nonlinear system [J]. IEE Proc Control Theory Applications, 2004, 51(1): 65–72.
PARK J H, HUH S H, KIM S H, SEO S J, PARK G T. Direct adaptive controller for nonaffine nonlinear systems using self-structuring neural networks [J]. IEEE Transactions on Neural Networks, 2005, 16(2): 414–422.
GE S S, HANG C C, ZHANG T. Adaptive neural network control of nonlinear systems by state and output feedback [J]. IEEE Trans Syst Man and Cybernetics B Cybernetics, 1999, 29(6): 818–828.
GE S S, WANG C. Adaptive NN control of uncertain nonlinear pure-feedback systems [J]. Automatica, 2002, 38: 671–682.
WANG C, HILL D J, GE S S, CHEN G. An ISS-modular approach for adaptive neural control of pure-feedback systems [J]. Automatica, 2006, 42: 723–731.
BEHTASH S. Robust output tracking for nonlinear system [J]. Int J Control, 1990, 51(6): 1381–1407.
Author information
Authors and Affiliations
Corresponding author
Additional information
Foundation item: Project(60974047) supported by the National Natural Science Foundation of China; Project(S2012010008967) supported by the Natural Science Foundation of Guangdong Province, China; Project supported by the Science Fund for Distinguished Young Scholars, China; Project supported by 2011 Zhujiang New Star Fund, China; Project(121061) supported by FOK Ying Tung Education Foundation of China; Project supported by the Ministry of Education for New Century Excellent Talent, China; Project(20124420130001) supported by the Doctoral Fund of Ministry of Education of China
Rights and permissions
About this article
Cite this article
Chen, Zf., Zhang, Y. Robust control of a class of non-affine nonlinear systems by state and output feedback. J. Cent. South Univ. 21, 1322–1328 (2014). https://doi.org/10.1007/s11771-014-2069-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11771-014-2069-2