Output feedback exponential stabilization of uncertain chained systems
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Detail(s)
| Original language | English |
|---|---|
| Pages (from-to) | 36-57 |
| Journal / Publication | Journal of the Franklin Institute |
| Volume | 344 |
| Issue number | 1 |
| Publication status | Published - Jan 2007 |
Link(s)
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. © 2006 The Franklin Institute.
Research Area(s)
- Backstepping, Chained form systems, Input-state scaling, Observer gain filter, Output feedback
Citation Format(s)
Output feedback exponential stabilization of uncertain chained systems. / Xi, Zairong; Feng, Gang; Jiang, Z. P.; Cheng, Daizhan.
In: Journal of the Franklin Institute, Vol. 344, No. 1, 01.2007, p. 36-57.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
