GLOBAL TRACKING RESULT FOR STRICT FEEDBACK SYSTEMS IN PRESENCE OF ACTUATOR SATURATION

A new control strategy is presented to deal with a class of input-constrained nonlinear systems of the strict-feedback type. A saturated controller is designed using a backstepping like technique and analyzed using input-output stability tools. Sufficient conditions on the design parameters are established for the achievement of L1-convergence of the system output to any reference signal that is compatible with the constraint.