Output feedback exponential stabilization of uncertain chained systems

Zairong Xi, Gang Feng, Zhong-Ping Jiang, Daizhan Cheng

Research output: Contribution to journalArticle

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

Fingerprint

Exponential Stabilization
Feedback Stabilization
Uncertain systems
Output Feedback
Uncertain Systems
Observer
Stabilization
Filter
Feedback
Dynamic Output Feedback
Switching Control
Feedback Law
Nonholonomic Systems
Backstepping
Robust Design
Closed loop systems
Closed-loop System
Control Strategy
Disturbance
Scaling

Keywords

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

ASJC Scopus subject areas

  • Modeling and Simulation
  • Control and Optimization
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Information Systems and Management
  • Signal Processing

Cite this

Output feedback exponential stabilization of uncertain chained systems. / Xi, Zairong; Feng, Gang; Jiang, Zhong-Ping; Cheng, Daizhan.

In: Journal of the Franklin Institute, Vol. 344, No. 1, 01.2007, p. 36-57.

Research output: Contribution to journalArticle

Xi, Zairong ; Feng, Gang ; Jiang, Zhong-Ping ; Cheng, Daizhan. / Output feedback exponential stabilization of uncertain chained systems. In: Journal of the Franklin Institute. 2007 ; Vol. 344, No. 1. pp. 36-57.
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