Robust stabilization of MIMO nonlinear systems by backstepping
نویسندگان
چکیده
The problem of global robust stabilization is investigated for a class of multi-input, minimum-phase nonlinear systems with unknown time-varying parameters or disturbances belonging to a given compact set. It is assumed that the systems admit a special structure, which is much more general than strict feedback form. It is shown that such a structure makes it possible to construct both Lyapunov functions and robust stabilizing controllers by the backstepping method. ( 1999 Elsevier Science Ltd. All rights reserved.
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ورودعنوان ژورنال:
- Automatica
دوره 35 شماره
صفحات -
تاریخ انتشار 1999