Robust control for a class of high-order uncertain nonlinear systems via measurement feedback

ABSTRACT This paper considers the problem of global stabilisation for a class of uncertain nonlinear systems, which are of high order and have unknown measurement functions. Based on the notion of homogeneity with monotone degrees (HWMD), the new definition of HWMD indexes is introduced not only to provide an explicit manner to select the homogeneous weights, but also to guarantee the solvability of this problem. By subtly designing a series of Lyapunov functions with indeterministic homogeneous degrees, a measurement feedback controller is proposed to globally stabilise the nonlinear system under different sensors with certain conditions.

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