Nonlinear Robust Output Tracking with Almost Disturbance Decoupling
by
Kazuhisa Ito
Research Assoc. of Mech. Eng. Dept., SOPHIA Univ.
Coauthors: Tielong Shen(Research Assoc., Sophia University), Katsutoshi Tamura(Professor, Sophia University)

This paper presents the design of semi-global robust tracking output feedback controller for a class of nonlinear system with almost disturbance decoupling(ADDP). The system is affected by uncertainty and unknown disturbances. The uncertainty is described by gain bounded unknown nonlinear functions on the state. If the system is of relative degree one and minimum phase, the proposed controller ensures such properties for any initial condition and for any smooth bounded output reference signal that input-to-state stability with respect to disturbance inputs and ADDP. The influence of disturbance on the L_2 norm of the output tracking error is arbitrary attenuated by increasing a positive scalar control parameter.

Date received: January 7, 2002

Copyright © 2002 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # cago-15.