TY - GEN
T1 - Output-Dependent FASs and Output Feedback Control, Part 1
T2 - 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
AU - Duan, Guangren
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - In this paper, the single-order output-dependent fully actuated systems are proposed, and its close relation with output feedback stabilization of nonlinear systems is revealed. It is shown that, output feedback control of a great deal of nonlinear systems, possibly with time-varying parameters and time-delays, can be solved by first converting the system into an output-dependent FAS. Using the proposed approach, output feedback control of two practical systems are effectively solved: 1) spacecraft rendezvous using only relative position feedback, for which global uniform asymptotical stabilization is achieved without linearizing the nonlinear model; 2) a manipulator with a spring joint, for which global uniform exponential stabilization is achieved via only feedback of the angle position and velocity of the manipulator.
AB - In this paper, the single-order output-dependent fully actuated systems are proposed, and its close relation with output feedback stabilization of nonlinear systems is revealed. It is shown that, output feedback control of a great deal of nonlinear systems, possibly with time-varying parameters and time-delays, can be solved by first converting the system into an output-dependent FAS. Using the proposed approach, output feedback control of two practical systems are effectively solved: 1) spacecraft rendezvous using only relative position feedback, for which global uniform asymptotical stabilization is achieved without linearizing the nonlinear model; 2) a manipulator with a spring joint, for which global uniform exponential stabilization is achieved via only feedback of the angle position and velocity of the manipulator.
KW - dynamical output feedback control
KW - Nonlinear systems
KW - output-dependent fully-actuated systems
UR - https://www.scopus.com/pages/publications/105043557797
U2 - 10.1109/FASTA70174.2026.11549159
DO - 10.1109/FASTA70174.2026.11549159
M3 - 会议稿件
AN - SCOPUS:105043557797
T3 - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
SP - 289
EP - 296
BT - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 22 May 2026 through 24 May 2026
ER -