6 research outputs found
Adaptive output regulation for a class of nonlinear systems with guaranteed transient performance
This paper is dedicated to adaptive output regulation for a class of nonlinear systems with asymptotic output tracking and guarantee of prescribed transient performance. With the employment of internal model principle, we first transform this problem into a specific adaptive stabilization problem with output constraints. Then, by integrating the time-varying Barrier Lyapunov Function (BLF) technique together with the high gain feedback method, we develop an output-based control law to solve the constrained stabilization problem and consequently confine the output tracking error to a predefined arbitrary region. The output-based control law enables adaptive output regulation in the sense that, under unknown exosystem dynamics, all the closed-loop system signals are bounded whilst the controlled output constraints are not violated. Finally, efficacy of the proposed design is illustrated through a simulation example
Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation
We investigate the problem of practical output regulation, i.e., to design a
controller that brings the system output in the vicinity of a desired target
value while keeping the other variables bounded. We consider uncertain systems
that are possibly nonlinear and the uncertainty of their linear parts is
modeled element-wise through a parametric family of matrix boxes. An
optimization-based design procedure is proposed that delivers a continuous-time
control and estimates the maximal regulation error. We also analyze an
event-triggered emulation of this controller, which can be implemented on a
digital platform, along with an explicit estimates of the regulation error