Backstepping Design for Output Feedback Stabilization for Uncertain Systems using Dynamic Extension.

Frédéric Mazenc 1, 2 Laurent Burlion 3 Michael Malisoff 4
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : We revisit the backstepping approach. We show how bounded globally asymptot-ically stabilizing output feedbacks can be constructed for a family of nonlinear systems. The approach relies on the introduction of a dynamic extension and a converging-input-converging-state assumption. The technique presents several advantages. It provides control laws whose expressions are simple. It makes it possible to stabilize systems in the presence of uncertain terms which prevent the use of the classical backstepping technique. It applies in cases where only part of the state variable is measured.
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Frédéric Mazenc, Laurent Burlion, Michael Malisoff. Backstepping Design for Output Feedback Stabilization for Uncertain Systems using Dynamic Extension.. Second IFAC Conference on Modelling, identification and Control of Nonlinear Systems, Jun 2018, Guadalajara, Mexico. pp.260-265, ⟨10.1016/j.ifacol.2018.07.288⟩. ⟨hal-01918299⟩

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