New results on global output-feedback stabilization for nonlinear systems with unknown growth rate

(整期优先)网络出版时间:2013-03-13
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Inthispaper,theglobalasymptoticstabilizationbyoutputfeedbackisinvestigatedforaclassofuncertainnonlinearsystemswithunmeasuredstatesdependentgrowth.Comparedwiththecloselyrelatedworks,theremarkablenessofthepaperisthateitherthegrowthrateisanunknownconstantorthedimensionoftheclosed-loopsystemissignificantlyreduced,mainlyduetotheintroductionofadistinctdynamichigh-gainobserverbasedonanewupdatinglaw.Motivatedbytherelatedstabilizationresults,andbyskillfullyusingthemethodsofuniversalcontrolandbackstepping,weobtainthedesignschemetoanadaptiveoutput-feedbackstabilizingcontrollertoguaranteetheglobalasymptoticstabilityoftheresultingclosed-loopsystem.Additionally,anumericalexampleisconsideredtodemonstratetheeffectivenessoftheproposedmethod.