Peaking Removing in Semi-Global Stabilization for a Class of Nonlinear Cascaded Systems Based on Control Barrier Functions

This article investigates the problem of removing the peaking phenomenon in the stabilization of a class of nonlinear cascaded systems using linear partial state feedback within a quadratic program (QP) framework. By appropriately designing the QP and selecting its parameters, the inter-subsystem cascaded input terms are effectively constrained within a desirable control-invariant set, thereby eliminating undesirable transient peaks. Semi-global stabilization of the overall system is achieved through only minimal modifications to the nominal linear feedback controllers. Owing to the simplicity of the resulting controller structure and the real-time efficiency of QP solvers, the proposed method is readily applicable to practical systems. Numerical examples from previous studies are revisited to demonstrate the effectiveness and robustness of the proposed control strategy.