Global output-feedback stabilization for a class of uncertain time-varying nonlinear systems

摘要

This paper investigates the global output-feedback stabilization for a class of uncertain time-varying nonlinear systems. The remarkable structure of the systems is the presence of uncertain control coefficients and unmeasured states dependent growth whose rate is inherently time-varying and of unknown polynomial-of-output, and consequently the systems have heavy nonlinearities, serious uncertainties/unknowns and serious time-variations. This forces us to explore a time-varying plus adaptive methodology to realize the task of output-feedback stabilization, rather than a purely adaptive one. Detailedly, based on a time-varying observer and transformation, an output-feedback controller is designed by skillfully combining adaptive technique, time-varying technique and well-known backstepping method. It is shown that, with the appropriate choice of the design parameters/functions, all the signals of the closed-loop system are bounded, and furthermore, the original system states globally converge to zero. It is worth mentioning that, the heavy nonlinearities are compensated by an updating law, while the serious unknowns and time-variations are compensated by a time-varying function. The designed controller is still valid when the system has an additive input disturbance which, essentially different from those studied previously, may not be periodic or bounded by any known constant. (C) 2016 Elsevier B.V. All rights reserved.