Affiliations: [a] Department of Elec., Chodang Univ., Sungnam-Ri,
Muan-Eup, Muan-Gun, Chonnam, 534-701, Korea. E-mail:
kmim@chodang.ac.kr
| [b] Department of Elec., Kunjang College, San 3-3,
Sungsan-myun, Gunsan-City, Chonbuk, 573-709, Korea. E-mail:
cjham@kunjang.ac.kr
| [c] Department of Elec., Chonbuk National Univ.,
Duckjin-Dong, Jeonju-city, Chonbuk, 561-756, Korea. E-mail:
wcham@moak.chonbuk.ac.kr
Abstract: In this paper, a robust control scheme for a class of nonlinear
dynamical system is proposed by using output-feedback linearization method. The
presented control scheme is based on the VSS. We assume that the nonlinear
dynamical system is minimum phase, i.e., the relative degree of the system is
p=r_1+r_2+ … +r_m ≤ n and zero dynamics is
stable. We also assume that the states of zero dynamics are not accessible. It
is also shown that the global asymptotically stability is guaranted. And we
verified that the proposed control scheme is then applied to the control of a
two degrees of freedom (DOF) robotic manipulator with payload.
Keywords: robust controller, parameter update law, nonlinear dynamical system
