New bounded backstepping control designs for time-varying systems under converging-input-converging-state conditions

摘要

We provide new asymptotically stabilizing backstepping controls for time-varying systems in a partially linear form. Instead of measuring the full current state, our main feedback design uses several time lagged values of a function of the state of the nonlinear subsystem, and has no distributed terms. Other advantages are that we do not require differentiability of the available nominal controls for the nonlinear subsystems, and that our controls do not contain Lie derivatives. This improves on a recent work in Automatica that covered the special case where the linear part has one integrator, since we now allow an arbitrary number of integrators.