Robust Nonlinear Forwarding with Smooth State Feedback Control

Abstract

. In this paper, a robust forwarding control technique is introduced for a class of uncertain nonlinear systems admitting the so-called upaugmented structure. This technique gives a recursive design procedure which yields a smooth controller. Further, it can be combined with the wellknown back-stepping technique to solve the robust stabilization problem for a large class of uncertain nonlinear systems. In contrast to previous methods on nonlinear forwarding, our technique is able to handle systems with large parameter uncertainties. Keywords: Nonlinear systems; Forwarding; Robust stabilization; State feedback. 1 Introduction In this paper, we consider the robust stabilization problem for a class of uncertain nonlinear systems admitting the so-called up-augmented structure. This structure starts with a base system of the following form: x(t) = f(x(t); q) + b(q)u(t) (1) where x(t) 2 R n is the state, u(t) 2 R is the control, q 2 R l is an uncertain parameter vector contained in ..