高次相対次数を有する非線形時変システムに対するハイゲイン適応出力フィードバック制御

Abstract

This paper deals with a controller design problem for time-varying nonlinear systems with a higher order relative degree. A robust adaptive tracking control for uncertain time-varying nonlinear systems with stable zero dynamics will be proposed based on the high-gain adaptive output feedback and the backstepping strategies. The proposed method is useful in the case where only the output signal is available.