Global Practical Tracking by Output Feedback for Uncertain Nonlinear Systems Under A Weaker Condition

This paper considers the problem of global practical tracking via output feedback control for a class of more general uncertain high-order nonlinear systems. Under a weaker growth condition, by introducing sign function and necessarily modifying the homogeneous domination approach, this paper proposes a new control scheme to achieve the global practical tracking. It is shown that the designed controller guarantees that the state of the resulting closed-loop system is globally bounded and the tracking error converges to a prescribed arbitrarily small neighborhood of the origin after a finite time. Keywords—output feedback, practical tracking, nonlinear system, homogeneous domination.