Integrator backstepping for uncertain nonlinear systems with non-smooth dynamics

被引：7

作者：

Dashkovskiy, Sergey N. ^{[1
]}

Pavlichkov, Svyatoslav S. ^{[1
]}

机构：

[1] Univ Wurzburg, Inst Math, Wurzburg, Germany

来源：

EUROPEAN JOURNAL OF CONTROL | 2018年 / 40卷

关键词：

Nonlinear systems; Stability; Backstepping; TRIANGULAR SYSTEMS; FEEDBACK STABILIZATION; GLOBAL STABILIZATION; CONTROLLABILITY; EXTENSION; THEOREM;

D O I：

10.1016/j.ejcon.2017.12.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We solve the problem of global input-to-state stabilization with respect to external disturbances for a class of nonlinear systems with unknown parameters. For this class, the classical backstepping framework is not applicable and needs to be redesigned because of the following obstacles: (a) the systems under consideration are not in strict-feedback form, are not feedback linearizable and their input-output maps are not invertible, and (b) the dynamics is non-smooth and the trajectories starting from an initial point are not necessarily uniquely defined. (C) 2017 European Control Association. Published by Elsevier Ltd. All rights reserved.

引用

页码：68 / 79

页数：12

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