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Robust Constraint Satisfaction for Continuous-Time Nonlinear Systems in Strict Feedback Form

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2 Author(s)
Burger, M. ; Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany ; Guay, M.

This work is concerned with the design of feedback control laws that guarantee satisfaction of hard output constraints. A recursive procedure is used to derive sufficient conditions for robust constraint satisfaction in input affine nonlinear systems with bounded disturbances or parametric uncertainties. The control objective is achieved by a suitable switching between two control modes, one responsible for stabilization and one for constraint satisfaction.

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Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 11 )