We revisit the backstepping approach. We show how bounded globally asymptotically 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 certain types of uncertain terms which prevent the use of the classical backstepping technique. It applies in notable cases where only part of the state variable is measured.
|Number of pages
|2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
|Published - Jan 1 2018
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- output feedback