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Output Feedback Control for a Class of Uncertain MIMO Nonlinear Systems With Non-Symmetric Input Gain Matrix

In this paper, a new continuous output feedback control mechanism is developed for output tracking for a class of high-order multi-input nonlinear systems with an input gain matrix that is positive definite but non-symmetric. The controller yields semiglobal uniformly ultimately bounded (SGUUB) tracking while compensating for unstructured uncertainty in both the drift vector and the input matrix. First, a fullstate feedback controller is designed based on limited assumptions on the structure of the system nonlinearities and the controller is proven to yield SGUUB tracking through a Lyapunov-based analysis. Then, an output feedback control design based on a high gain observer is proposed. A comprehensive stability analysis of the closed-loop system under output feedback is carried out and a recovery of the state feedback SGUUB result is demonstrated for the output feedback control system. Neural network estimation method is employed in both state and output feedback control design to feedforward compensate for the nonlinear system uncertainty.