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Technical Briefs

Global Output Feedback Stabilization of a Class of Nonlinear Systems With Multiple Output

[+] Author and Article Information
Chunjiang Qian

Department of Electrical and Computer Engineering,
The University of Texas at San Antonio,
1 UTSA Circle,
San Antonio, TX 78249
e-mail: chunjiang.qian@utsa.edu

Qi Gong

Department of Applied Mathematics and Statistics,
Baskin School of Engineering,
University of California,
Santa Cruz, CA 95064
e-mail: qigong@soe.ucsc.edu

Roughly speaking, the solutions of a system are said to be finite-time stable if the solutions are stable and will reach the origin in a finite time and stay there afterwards. A more precise definition can be found in the references [2,7].

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement and Control. Manuscript received February 10, 2012; final manuscript received March 7, 2013; published online May 15, 2013. Assoc. Editor: Eugenio Schuster.

J. Dyn. Sys., Meas., Control 135(4), 044502 (May 15, 2013) (6 pages) Paper No: DS-12-1054; doi: 10.1115/1.4024000 History: Received February 10, 2012; Revised March 07, 2013

This paper considers global output feedback stabilization of a class of upper-triangular nonlinear systems with multiple outputs. By coupling a finite-time convergent observer and a saturated homogeneous stabilizer, the global output feedback stabilization can be achieved without the homogeneous growth condition. The proposed techniques are also extended to more general complex nonlinear systems. Various examples, including a ball-and-beam mechanical system and a planar vertical takeoff and landing aircraft, are presented to illustrate the design.

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Figures

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Fig. 3

Trajectories (x,vx) and their estimations (x∧,v∧x)

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Fig. 2

Unmeasurable states and their estimates

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Fig. 4

Trajectories (z,vz) and their estimations (z∧,v∧z)

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Fig. 1

Trajectories of x1,1 and x2,1

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Fig. 5

Trajectories (θ,ω) and their estimations (θ∧,ω∧)

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