제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.78-83
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- 2003
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
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.