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In this paper, we consider the guaranteed cost control problem (GCCP) for a class of uncertain linear systems with structured parametric uncertainty. We present an approach to the GCCP for systems with arbitrary rank uncertainty matrices based on a rank-one description of the uncertain linear system. A search for an adequate rank-one overbounding of the uncertainty matrices is included in an optimisation...
A new input-to-state scaling scheme is first introduced to transform a class of nonholonomic systems in a chained form with strong nonlinear drifts and unknown constant parameters into a strict feedback form. The backstepping technique is then applied to design a global adaptive stabilization controller. A switching strategy based on the control input magnitude rather than the time is derived to get...
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