Output-feedback stabilisation of output-constrained high-order nonlinear systems with high-order and low-order nonlinearities

This paper investigates output-feedback stabilisation of n-dimensional output-constrained high-order nonlinear systems with high-order and low-order nonlinearities. By constructing new nonlinear mappings, a crucial coordinate transformation, integral Lyapunov functions and an observer, skillfully combining adding a power integrator technique and introducing a novel analysis method, a continuous output-feedback controller is designed to guarantee that all the closed-loop signals are uniformly bounded, output constraint is not transgressed, and the equilibrium point of the closed-loop system is uniformly asymptotically stable. A simulation example shows the effectiveness of this control scheme.