Technical Communique: Robust stabilization of MIMO nonlinear systems by backstepping

Authors:
Xiaoping Liu;Guoxiang Gu;Kemin Zhou
Affiliations:
Department of Automatic Control, Northeastern University, Shenyang, 110006, People's Republic of China;Department of Electrical and Computer Engineering, Louisiana State University, Baton Rouge, LA 70803, USA;Department of Electrical and Computer Engineering, Louisiana State University, Baton Rouge, LA 70803, USA
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

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.