Robust Nonlinear Forwarding with Smooth State Feedback Control
نویسندگان
چکیده
In this paper, a robust forwarding control technique is introduced for a class of uncertain nonlinear systems admitting the so-called up-augmented structure. This technique gives a recur-sive design procedure which yields a smooth controller. Further, it can be combined with the well-known back-stepping technique to solve the robust stabilization problem for a large class of uncertain nonlinear systems. In contrast to previous methods on nonlinear forwarding, our technique is able to handle systems with large parameter uncertainties.
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