In this paper we develop an optimality-based framework for designing controllers for discrete-time nonlinear cascade systems. Specifically, using a nonlinear-nonquadratic optimal control framework we develop a family of globally stabilizing backstepping-type controllers parameterized by the cost functional that is minimized. Furthermore, it is shown that the control Lyapunov function guaranteei...

A new criterion for nonregular static state feedback linearization is presented for a class of affine nonlinear control systems. This criterion is applied to several classes of nonholonomic systems and discontinuous stabilizing control design is outlined based on linear system theory and the backstepping techniques.

In this paper, an adaptive fuzzy output feedback control approach with prescribed performance is proposed for a class of uncertain nonlinear strict-feedback systems with unmeasured states. With the help of fuzzy logic systems identifying the unknown nonlinear system, a fuzzy state observer is established for estimating the unmeasured states. Under the framework of the backstepping control desig...

In dealing with a large-scale system, one usually does not have adequate knowledge of the plant parameters and interactions among subsystems. The decentralized adaptive technique, designed independently for local subsystems and using locally available signals for feedback propose, is an appropriate strategy to be employed. In the context of decentralized adaptive control, a number of results ha...

This paper presents an integrated guidance and control design for formation flight using a combination of adaptive output feedback and backstepping techniques without an underlying time-scale separation assumption. We formulate the problem as an adaptive output feedback control problem for a line-of-sight (LOS) based formation flight configuration of a leader and a follower aircraft. The design...