Output feedback hierarchical control for nonlinear systems

Summary In this paper, we address the problem of hierarchical control for nonlinear systems and design two dynamic output feedback hierarchical control laws in a semiglobal sense and in a global sense, respectively. With the controllers applied to a class of nonlinear systems, some transient and steady properties of the system output trajectories can be satisfied simultaneously. Furthermore, the corresponding result in the global sense for linear systems is naturally derived. Finally, the effectiveness of our approach is illustrated by a single‐link robot arm system.