Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems

TL;DR

This paper introduces an adaptive subsystem-based control approach for strict-feedback form nonlinear systems, enabling modular design, local stability analysis, and scalability to high-dimensional systems, with demonstrated effectiveness through simulations.

Contribution

It presents a novel modular control framework that simplifies design and analysis for high-order nonlinear systems by decomposing them into subsystems.

Findings

Ensures global asymptotic stability for SFF systems.

Reduces control design complexity for high-dimensional systems.

Demonstrates effectiveness through numerical simulations.

Abstract

This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely stability connector) can be created to address dynamic interactions between the subsystems. This 1) enables modular control design with global asymptotic stability, 2) such that both the control design and the stability analysis can be performed locally at a subsystem level, 3) while avoiding an excessive growth of the control design complexity when the system order n increases. The latter property makes the method suitable especially for high-dimensional systems. We also design a smooth projection function for addressing system parametric uncertainties. Numerical simulations demonstrate the efficiency of the method.