Title :
A design method of output feedback servo-controllers for nonlinear systems
Author :
Rayase, M. ; Rijanto, Estiko ; Matsuno, Hiroshi ; Moran, Antonio
Author_Institution :
Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol., Japan
Abstract :
This paper presents a novel method for designing output feedback servo-controllers for nonlinear systems. First, a design method of state feedback regulators for nonlinear systems is derived based on the Hamilton-Jacobi optimality conditions for cost functions with quadratic structure. Second, observers of nonlinear systems are designed, and the output feedback servo-controller is designed by combining the regulator and observer. The validity of the proposed method has been verified through simulations using a two link robot arm
Keywords :
Jacobian matrices; control system synthesis; nonlinear control systems; observers; optimal control; servomechanisms; state feedback; 2-link robot arm; Hamilton-Jacobi optimality conditions; cost functions; nonlinear systems; observers; quadratic structure; state feedback regulators; utput feedback servo-controller design; Control systems; Cost function; Design methodology; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Output feedback; Regulators; Riccati equations; Robots;
Conference_Titel :
Industrial Technology, 1996. (ICIT '96), Proceedings of The IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
0-7803-3104-4
DOI :
10.1109/ICIT.1996.601650
