Robust Stabilization for Uncertain Nonlinear Systems Subject to Feedforward Growth Constraint

Abstract

This paper investigates the robust stabilization problem of a class of uncertain nonlinear systems with input matching uncertainty under linear feedforward growth conditions. Smooth robust controllers are obtained by state feedback and output feedback, respectively. In order to deal with input matching uncertainty, extra dynamics are designed inspired by the integral control and disturbance estimation. The proposed controllers guarantee that the states of controlled systems asymptotically converge to zero and all closed-loop signals are globally bounded. Finally, simulation examples are given to illustrate the usefulness of the state-feedback and output-feedback controllers proposed.

Keywords

• Feedforward systems
• matching uncertainty
• robust stabilization
• integral control
• low-gain observer