Na Duan, Fu-Nian Hu and Xin Yu. An Improved Control Algorithm for High-order Nonlinear Systems with Unmodelled Dynamics. International Journal of Automation and Computing, vol. 6, no. 3, pp. 234-239, 2009. DOI: 10.1007/s11633-009-0234-0
Citation: Na Duan, Fu-Nian Hu and Xin Yu. An Improved Control Algorithm for High-order Nonlinear Systems with Unmodelled Dynamics. International Journal of Automation and Computing, vol. 6, no. 3, pp. 234-239, 2009. DOI: 10.1007/s11633-009-0234-0

An Improved Control Algorithm for High-order Nonlinear Systems with Unmodelled Dynamics

  • In this paper, we consider a class of high-order nonlinear systems with unmodelled dynamics from the viewpoint of maintaining the desired control performance (e. g., asymptotical stability) and reducing the control effort. By introducing a new rescaling transformation, adopting an effective reduced-order observer, and choosing an ingenious Lyapunov function and appropriate design parameters, this paper designs an improved output-feedback controller. The output-feedback controller guarantees the globally asymptotical stability of the closed-loop system. Subsequently, taking a concrete system for an example,the smaller critical values for gain parameter and rescaling transformation parameter are obtained to effectively reduce the control effort.
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