A switching algorithm for global exponential stabilization of uncertain chained systems

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)1793-1798
Journal / PublicationIEEE Transactions on Automatic Control
Issue number10
Publication statusPublished - Oct 2003


This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.

Research Area(s)

  • Backstepping, Chained form systems, Exponential stabilization, Input-state scaling, Lyapunov stability, Robustness