Semi‐Global Output Feedback Stabilization for a Class of Uncertain Nonlinear Systems

This paper addresses the problem of semi-global stabilization by output feedback for a class of nonlinear systems whose output gains are unknown. For each subsystem, we first design a state compensator and use the compensator states to construct a control law to stabilize the nominal linear system without the perturbing nonlinearities. Then, combining the output feedback domination approach with block-backstepping scheme, a series of homogeneous output feedback controllers are constructed recursively for each subsystem and the closed-loop system is rendered semi-globally asymptotically stable.

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