Backstepping Design for Output Feedback Stabilization for a Class of Uncertain Systems * - Archive ouverte HAL Access content directly
Journal Articles Systems and Control Letters Year : 2019

Backstepping Design for Output Feedback Stabilization for a Class of Uncertain Systems *

(1, 2) , (3) , (4)
1
2
3
4

Abstract

We construct bounded globally asymptotically stabilizing output feedbacks for a family of nonlinear systems, using a dynamic extension and a converging-input-converging-state assumption. We provide sufficient conditions for this assumption to hold, in terms of Lyapunov functions. The novelty is that our construction provides formulas for the control bounds while allowing uncertainties that prevent the use of classical back-stepping, and cases where only part of the state variable is available for measurement, without requiring the time lagged states in the feedback control that were required in the artificial delays approach. We illustrate the relevance of our work to engineering in an application to a single-link direct-drive manipulator.
Fichier principal
Vignette du fichier
8Nov2018MMRevisionDraft.pdf (581.63 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02342856 , version 1 (01-11-2019)

Identifiers

Cite

Frédéric Mazenc, Laurent Burlion, Michael Malisoff. Backstepping Design for Output Feedback Stabilization for a Class of Uncertain Systems *. Systems and Control Letters, 2019, ⟨10.1016/j.sysconle.2018.11.007⟩. ⟨hal-02342856⟩
37 View
279 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More