Abstract
This paper considers the global output-feedback stabilization for a class of uncertain strict-feedback nonlinear systems. Besides the unavailability of system state, the nonlinear systems allow unknown control directions and non-parametric uncertainties, which are both arguably the most severe structural uncertainties. Even so, a refined stabilization objective with prescribed convergence rate is pursued in this paper. To solve the control problem, a new output-feedback scheme is established by introducing delicate time-varying gains and utilizing a filtered transformation, where the time-varying gains are pivotal for counteracting the structural uncertainties and guaranteeing the prescribed performance. By forcing certain system signals to evolve within a pre-specified funnel, the designed output-feedback controller can guarantee the system state to converge to zero with prescribed rate. Moreover, unlike the common backstepping design for strict-feedback systems, the established scheme can effectively prevent the computation complexity for controller construction from extremely increasing with system dimension.
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