Adaptive control of feedback linearizable systems: a modelling error compensation approach
The objective of this paper is to show that modelling error compensator (MEC) methods can also be used to design adaptive output feedback controllers for feedback linearizable systems given by \[ \dot z_i=z_{i+1},\quad 1 \leqslant i < n,\quad \dot z_n= f(z)+g(z)u, \quad y=z_1, \] where the state \(z\in \mathbb R^n,\) the output \(y \in \mathbb R\) and the input \(u\in\mathbb R.\) The functions \(f(z)\) and \(g(z)\) are uncertain, \(f(0) = 0\), \(g(z)>0.\) An estimate \(\overline f(z)\) of \(f(z)\) (which in the worst case may be zero) is known. The function \(g(z)\) is bounded away from zero, globally bounded. Only the output \(y = z_1\) is available for feedback. The new element in this paper is the idea to achieve robust stabilization via a high-gain observer alone without an explicit design of high-gain feedback. The system is represented in normal form where the uncertainty term (the modelling error) satisfies the matching condition. Instead of designing a robust state feedback to dominate the uncertain term, this is viewed as an extra state that is estimated using a high-gain observer. The estimation of the uncertain term gives the control system some degree of adaptivity. When there is no uncertainty, the estimation of such extra state ceases to have effect on the feedback loop. Once the robust stabilization problem is posed as an output feedback stabilization one, the stability analysis is based on the application of semiglobal stability results of controlled nonlinear systems with high-gain state observers, which is an idea first proposed by \textit{F. Esfandiari} and \textit{H. K. Khalil} [Int. J. Control 56, No. 5, 1007-1037 (1992; Zbl 0762.93069)]. The application of MEC methods to design robust controllers does not require any parametrization of the nonlinear uncertainty.
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