Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 52, Issue 1, Pages 102-108Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2006.886534
Keywords
feedforward systems; high gain; nonlinear systems; scaling; strict-feedback systems
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We propose a global high-gain scaling-based state-feedback controller for a general class of nonlinear systems containing uncertain functions of all the states and the control input as long as polynomial bounds on ratios of some uncertain system terms are available. The design is based on a high gain scaling involving appropriate powers of a high gain scaling parameter which is a dynamic signal driven by the state. The design is applicable to both lower triangular (strict-feedback) and upper triangular (feedforward) systems, and also to nontriangular systems as long as a set of linear inequalities involving powers of the polynomial bounds on the ratios of uncertain system terms and scaling orders is solvable. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov inequalities.
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