| Title:
|
Generalized immersion and nonlinear robust output regulation problem (English) |
| Author:
|
Castillo-Toledo, Bernardino |
| Author:
|
Čelikovský, Sergej |
| Author:
|
Di Gennaro, S. |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 |
| Volume:
|
40 |
| Issue:
|
2 |
| Year:
|
2004 |
| Pages:
|
[207]-220 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
The problem of output regulation of the system affected by unknown constant parameters is considered here. Under certain assumptions, such a problem is known to be solvable using error feedback via the so-called immersion to an observable linear system with outputs. Nevertheless, for many interesting cases this kind of finite dimensional immersion is difficult or even impossible to find. In order to achieve constructive procedures for wider classes, this paper investigates a more general type of immersion. Such a generalized immersion enables to solve robust output regulation problem via dynamic feedback compensator using error and exosystem state measurement. When the exosystem states are not completely measurable, a modified observed-based generalized immersion is then presented. The main result obtained here is that under reasonable assumptions both the full and partial exosystem measurement problems are equivalently solvable. Examples together with computer simulation are included to clarify the suggested approach. (English) |
| Keyword:
|
output regulation |
| Keyword:
|
robust |
| Keyword:
|
nonlinear |
| Keyword:
|
immersion |
| MSC:
|
93B35 |
| MSC:
|
93C10 |
| MSC:
|
93C15 |
| MSC:
|
93D20 |
| idZBL:
|
Zbl 1249.93055 |
| idMR:
|
MR2069179 |
| . |
| Date available:
|
2009-09-24T20:00:40Z |
| Last updated:
|
2015-03-23 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/135589 |
| . |
| Reference:
|
[1] Byrnes C. I., Priscolli, F. Delli, Isidori A.: Output regulation of uncertain nonlinear systems.Birkhäuser, Boston 1997 MR 1438783 |
| Reference:
|
[2] Čelikovský S., Huang J.: Continuous feedback asymptotic output regulation for a class of nonlinear systems having nonstabilizable linearization.Proc. 37th IEEE Conference on Decision and Control, Tampa, Florida, 1999, pp. 3087–3092 |
| Reference:
|
[3] Čelikovský S., Huang J.: Continuous feedback practical output regulation for a class of nonlinear systems having nonstabilizable linearization.Proc. 38th IEEE Conference on Decision and Control, Phoenix, Arizona, 2000, pp. 4796–4801 |
| Reference:
|
[4] Čelikovský S., Villanueva-Novelo, C., Castillo-Toledo B.: Robust output regulation for nonlinear systems via generalized immersion.Proc. Conference on Systems, Cybernetics and Informatics, IX, Orlando, Flo. USA, 2000, pp. 96–101 |
| Reference:
|
[5] Hepburn J. S. A., Wonham W. M.: Error feedback and internal model on differentiable manifolds.IEEE Trans. Automat. Control 29 (1984), 397–403 MR 0748204, 10.1109/TAC.1984.1103563 |
| Reference:
|
[6] Huang J., Rugh W. J.: On a nonlinear multivariable servomechanism problem.Automatica 26 (1990), 963–972 Zbl 0717.93019, MR 1080983, 10.1016/0005-1098(90)90081-R |
| Reference:
|
[7] Huang J.: Asymptotic tracking and disturbance rejection in uncertain nonlinear system.IEEE Trans. Automat. Control 40 (1995), 1118–1122 MR 1345975, 10.1109/9.388697 |
| Reference:
|
[8] Isidori A., Byrnes C. I.: Output regulation of nonlinear systems.IEEE Trans. Automat. Control 35 (1990), 131–140 Zbl 0704.93034, MR 1038409, 10.1109/9.45168 |
| Reference:
|
[9] Isidori A.: Nonlinear Control Systems.Third edition. Springer–Verlag, London 1995 Zbl 0931.93005, MR 1410988 |
| . |
