Global stabilization of high-order constrained nonlinear systems: An unbounded time-varying scaling based approach

Abstract

Global stabilization of high-order nonlinear systems is studied with an asymmetric output constraint. A novel approach is raised by incorporating the unbounded time-varying scaling idea into the barrier Lyapunov function method. This is also suitable for systems with symmetric output constraints and without output constraints simultaneously. By the recursive design algorithm, a time-varying controller is established to ensure that state asymptotically converges to zero and output is always keeping in the given asymmetric domain. Finally, the feasibility of the control scheme is shown with an example.