Abstract:

A kind of adaptive dynamic surface robust output regulation method is proposed for a class of uncertain high-order nonlinear systems with triangular structure driven by a linear exosystem. The output regulation problem of high-order nonlinear systems is transformed into a stabilization problem according to the necessary condition of output regulation problems for nonlinear systems. In the preceding n-1steps, an adaptive adding a power integrator is used to design the expected virtual controller. In the nth step, a robust output regulation controller is designed by combining the adaptive adding a power integrator and internal model control. In each recursive step, by using the dynamic surface control, a low pass filter is introduced to avoid differential to the expected virtual controller. A simulation example shows the effectiveness of the proposed scheme.