Recursive scaling design for robust global nonlinear stabilization via output feedback

摘要

This paper proposes a novel approach to robust backstepping for global stabilization of uncertain nonlinear systems via output feedback. The design procedure developed in this paper is based on the concept of state-dependent scaling, which handles output-feedback stabilization problems of strict-feedback systems with various structures of uncertainties in a unified way. The proposed method is suitable for numerical computation. The theory of the method employs the Schur complements formula instead of Young's inequality and completing the squares. This paper shows a condition of allowable uncertainty size under which an uncertain system is globally stabilized by output feedback. A class of systems is shown to be always globally stabilizable for arbitrarily large nonlinear size of uncertainties. A recursive procedure of robust observer design for such a class of uncertain systems is presented. Copyright (C) 2000 John Wiley & Sons, Ltd. [References: 20]