Asymptotic tracking of a reference trajectory by output-feedback for a class of non linear systems

Vincent Andrieu (1) , Laurent Praly (2) , Alessandro Astolfi (3)

1 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
2 CAS - Centre Automatique et Systèmes
3 Università degli Studi di Roma Tor Vergata [Roma] = University of Rome Tor Vergata

We consider the problem of approximately tracking a reference trajectory by means of output feedback for a class of nonlinear systems with some non-globally Lipschitz nonlinearities. We solve this problem combining dynamic scaling, homogeneity in the bi-limit and new small gain arguments.

Mots clés: Tracking; Output-feedback; Non-linear systems; Homogeneity; High-gain

Domaines: Automatique / Robotique

Vincent Andrieu, Laurent Praly, Alessandro Astolfi. Asymptotic tracking of a reference trajectory by output-feedback for a class of non linear systems. Systems and Control Letters, 2009, 58 (9), pp.652-663. ⟨10.1016/j.sysconle.2009.04.008⟩. ⟨hal-00413103⟩