Global Asymptotic Stabilization of Nonlinear Systems with Mismatched Uncertainties Using Nonlinear Dynamic Controller

Abstract

It is very difficult to stabilize nonlinear systems with mismatched uncertainties, and the stabilization has been achieved under severe restrictions for the uncertainties. To solve the difficulty, this paper proposes a nonlinear dynamic control law using a new state which is generated by the term related to uncertainties and an input, and then proves its global asymptotic stability. The effectiveness of the method is illustrated through some numerical simulations. The method alleviates restrictions to a considerable extent, and its applications are expected for broader range of uncertain systems.