Adding one power integrator: a tool for global stabilization of high-order lower-biangular systems

作     者：Lin, W Qian, CJ 

作者机构：Case Western Reserve Univ Dept Elect Engn & Comp Sci Cleveland OH 44106 USA 

出 版 物：《SYSTEMS & CONTROL LETTERS》 (Syst Control Lett)

年 卷 期：2000年第39卷第5期

页      面：339-351页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

主　　题：adding a power integrator smooth state feedback global stabilization lower-triangular structure uncontrollable linearization high-order systems 

摘      要：A new feedback design tool called adding a power integrator is introduced and used to solve the problem of global robust stabilization, for a significant class of uncertain nonlinear systems that are of a lower-triangular form but neither necessarily feedback linearizable (fully or partially) nor affine in the control input, and therefore cannot be dealt with via conventional approaches. Sufficient conditions are presented under which a globally stabilizing smooth state feedback control law can be explicitly constructed, using repeatedly the adding one power integrator technique. This novel design technique permits removal of the feedback linearizability and linearity of the control input, which have been two common assumptions so far in the literature of nonlinear control. (C) 2000 Elsevier Science B.V. All rights reserved.