Output Feedback Adaptive Maneuvering for Nonlinear MIMO Systems with High Frequency Gain Matrix Hurwitz
In this paper, the adaptive maneuvering control based on output feedback is studied for uncertain nonlinear multi-input multi-output (MIMO) systems. The high frequency gain matrix of the systems only needs to be Hurwitz, which relaxes the positive definite limitation in the existing results. Based on the backstepping approach with vector form, an output feedback adaptive maneuvering control scheme is proposed. The geometric and the dynamic tasks are solved meanwhile the global stability of the closed-loop systems is guaranteed through the proposed control scheme.
Y. Zhou and Q. Zang, "Output Feedback Adaptive Maneuvering for Nonlinear MIMO Systems with High Frequency Gain Matrix Hurwitz", Advanced Materials Research, Vols. 383-390, pp. 2417-2422, 2012