Global output regulation of a class of lower triangular nonlinear systems with unknown control direction via output feedback

Abstract

In this paper, we study the global output regulation problem of a class of lower triangular systems under measurement output feedback. A novel high-gain filter is proposed to estimate the unmeasured states of the systems. Furthermore, we integrate the robust stabilisation technique and Nussbaumgain technique to achieve asymptotic regulation when the control direction is unknown. The simulation results illustrate the effectiveness of the proposed method.

Keywords:

• output regulation
• high-gain filter
• robust control
• nonlinear control

Acknowledgement

The authors would like to thank the Associate Editor and three anonymous reviewers for their valuable comments and suggestions that certainly improved the quality of this article.

Additional information

Funding

This work has been supported by the Research Grants Council of the Hong Kong Special Administration Region [grant number 412813]; and in part by the National Natural Science Foundation of China [grant number 61174049].

Notes on contributors

Ranran Li

Ranran Li received his BS degree in mechanical engineering and automation and PhD degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2005 and 2012, respectively. During September 2008 and October 2010, he was working as a research assistant in Michigan State University, East Lansing, MI, USA. Since March 2013, he has been holding a postdoctoral position in the Department of Mechanical and Automation Engineering of the Chinese University of Hong Kong, Hong Kong. His research interests include output regulation, cooperative control, robust control and adaptive control.