Robust stabilization of MIMO nonlinear systems by backstepping

被引：93

作者：

Liu, XP ^{[1
]}

Gu, GX

Zhou, KM

机构：

[1] Northeastern Univ, Dept Automat Control, Shenyang 110006, Peoples R China

[2] Louisiana State Univ, Dept Elect & Comp Engn, Baton Rouge, LA 70803 USA

来源：

AUTOMATICA | 1999年 / 35卷 / 05期

关键词：

nonlinear systems; global stabilization; Lyapunov functions; robust control;

D O I：

10.1016/S0005-1098(98)00236-2

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：987 / 992

页数：6

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