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Zbl 1119.93057
Xi, Zairong; Feng, Gang; Jiang, Z.P.; Cheng, Daizhan
Output feedback exponential stabilization of uncertain chained systems. (English)
[J] J. Franklin Inst. 344, No. 1, 36-57 (2007). ISSN 0016-0032; ISSN 1879-2693/e

Summary: 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.

MSC 2000:: *93D15 Stabilization of systems by feedback
93C15 Control systems governed by ODE

Keywords: chained form systems; input-state scaling; backstepping; observer gain filter; output feedback

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