Adaptive output-feedback global stabilisation for a class of more general nonlinear systems

This article investigates the global stabilisation problem via adaptive output feedback for a class of uncertain nonlinear systems. It is worth emphasising that the system under investigation possesses function control coefficients, input matching uncertainty and the polynomial-of-output growth rate, which is essentially different from the existing related literature, and hence brings some technical difficulties to the control design. To solve this problem, an adaptive output-feedback controller with dynamic high-gain and extended state observer is proposed. Remarkably, only one dynamic gain is introduced to overcome the function control coefficients, the serious uncertainty and the polynomial-of-output in the system growth rate. Moreover, under the designed controller, the states of the original system globally converge to zero. Two simulation examples are given to demonstrate the effectiveness of the proposed approach.