Abstract
This paper studies the output feedback problem for nonlinear systems with integral input-to-state stability (iISS) inverse dynamics, output constraint, and unknown control direction. First, a nonlinear mapping is introduced to transform the output constrained system into a new unconstrained system. Second, the influence of the change of iISS supply rate is discussed. By introducing an observer and using the time-varying Riccati equation, a dynamic output feedback control law is constructed with a backstepping-based design strategy. Besides, the value of gain P is determined to make it meet the stability equation. The output results do not violate the constraints.
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