Output feedback exponential stabilization of uncertain chained systems

Zairong Xi, Gang Feng, Z. P. Jiang, Daizhan Cheng

Research output: Contribution to journalArticlepeer-review

Abstract

This paper deals with chained form systems with strongly nonlinear disturbances and drift terms. The objective is to design robust nonlinear output feedback laws such that the closed-loop systems are globally exponentially stable. The systematic strategy combines the input-state-scaling technique with the so-called backstepping procedure. A dynamic output feedback controller for general case of uncertain chained system is developed with a filter of observer gain. Furthermore, two special cases are considered which do not use the observer gain filter. In particular, a switching control strategy is employed to get around the smooth stabilization issue (difficulty) associated with nonholonomic systems when the initial state of system is known.

Original languageEnglish (US)
Pages (from-to)36-57
Number of pages22
JournalJournal of the Franklin Institute
Volume344
Issue number1
DOIs
StatePublished - Jan 2007

Keywords

  • Backstepping
  • Chained form systems
  • Input-state scaling
  • Observer gain filter
  • Output feedback

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications
  • Applied Mathematics

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