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Output feedback exponential stabilization of uncertain chained systems |
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| Authors: | Zairong Xi Gang Feng Daizhan Cheng |
| Institution: | a Laboratory of Systems and Control, Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100080, China b Department of Manufacture Engineering and Engineering Management, The City University of Hong Kong, Tat Chee Avenue, Kowloon Tong, Hong Kong c Department of Electrical and Computer Engineering, Polytechnic University, Six Metrotech Center, Brooklyn, NY 11201, USA |
| 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. |
| Keywords: | Chained form systems Input-state scaling Backstepping Observer gain filter Output feedback |
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