Asymptotic stabilization via output feedback for lower triangular systems with output dependent incremental rate

Author

Praly, Laurent

Author_Institution

Centre Automatique et Syst., Ecole des Mines de Paris, Fontainebleau, France

Volume

48

Issue

6

fYear

2003

fDate

6/1/2003 12:00:00 AM

Firstpage

1103

Lastpage

1108

Abstract

We study the global asymptotic stabilization by output feedback for systems whose dynamics are in a feedback form and where the nonlinear terms admit an incremental rate depending only on the measured output. The output feedback we consider is of the observer-controller type where the design of the controller follows from standard robust backstepping. The novelty is in the observer which is high-gain such as with a gain coming from a Riccati equation.

Keywords

Riccati equations; asymptotic stability; feedback; nonlinear control systems; observers; robust control; Riccati equation; controller design; feedback form dynamics; global asymptotic stabilization; incremental rate; lower triangular systems; nonlinear terms; observer-controller type feedback; output dependent incremental rate; output feedback; standard robust backstepping; Backstepping; Control systems; Error correction; Lyapunov method; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Output feedback; Robust control; Robustness;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2003.812819

Filename

1205213