Global control for a class of uncertain upper-triangular nonlinear systems with uncontrollable linearization

摘要

This paper fucuses on the global control problem for a class of upper-triangular nonlinear systems whose linearization around the origin is not guaranteed to be controllable. Assuming that the nonlinearities satisfy the homogeneous growth conditions, a nonsmooth state-feedback controller is elaborately constructed based on the adding a power integrator technique and the homogeneous domination approach. By introducing the dynamic gain to deal with the input dependent growth rate, it can be proved that all the signals of the closed-loop system are bounded and the system states converge to the origin asymptotically.