Global asymptotic stabilization for input-delay chained nonholonomic systems via the static gain approach

Tracking control for nonlinear time‐delay multiagent systems with input saturation

“…We are observer‐based dynamic output feedback control design, which is only valid for the certain designed controller u . This type of observer has been used in research works on nonlinear system, such as the references the works of Zhang et al, Chen et al, Lei and Lin, Chen et al, and Zhang et al…”

“…Remark For the nonlinear system in strict‐feedback form, the controller is designed as a high gain controller, which results in a large degree of control force, such as the works of Zhang et al, Chen et al, and Lei and Lin . The input saturation determines that the magnitude of the control signal is always constrained, making the error between the control input u k and saturation input sat( u k ) is large.…”

“…We are observer-based dynamic output feedback control design, which is only valid for the certain designed controller u. This type of observer has been used in research works on nonlinear system, such as the references the works of Zhang et al, 3 Chen et al, 26 Lei and Lin, 37 Chen et al, 38 and Zhang et al 39 Theorem 2. Under Assumptions 1 to 3, control gain r and positive design parameters k , , and can be chosen such that all signals of the closed-loop system consisting of system (1) with (21) and the following output feedback controllers are globally bounded, and the tracking errors k,l , l = 1, 2, … , n can converge to a small neighborhood around the origin by appropriately selecting parameters:…”

“…As can be seen from the references mentioned above, the backstepping method is often used to study the tracking problem of nonlinear MASs. In fact, static gain control technique is also a very effective method . Moreover, based on this approach, many scholars have done a great number of works; see the works of Zhang et al, Shi et al and Zhang et al, for more discussions.…”

“…In fact, static gain control technique is also a very effective method. 26 Moreover, based on this approach, many scholars have done a great number of works; see the works of Zhang et al, 27 Shi et al 28 and Zhang et al, 29 for more discussions. Despite their efforts, as far as we know, the static gain technique has not been used to deal with the tracking control problem for strict-feedback nonlinear time-delay MASs with input saturation, which promotes this paper.…”