Title :
On the robust stabilization of chained systems by continuous feedback
Author :
Maini, M. ; Morin, P. ; Pomet, J.-B. ; Samson, C.
Author_Institution :
Inst. Nat. de Recherche en Inf. et Autom., Sophia-Antipolis, France
fDate :
6/21/1905 12:00:00 AM
Abstract :
We address the problem of robust feedback stabilization of nonlinear chained systems. Some Lipschitz-continuous time-varying feedback are proposed. They make the origin of the nominal system locally and asymptotically stable. For unmodelled dynamics with small enough magnitude, in dimension 3 or 4, these control laws also stabilize the perturbed systems, while a restriction on (the “direction” of) the perturbation is required for higher dimensions
Keywords :
asymptotic stability; closed loop systems; dynamics; feedback; nonlinear systems; robust control; time-varying systems; asymptotical stability; dynamics; feedback; nonlinear chained systems; perturbation; robust control; stabilization; time-varying systems; Computational geometry; Control systems; Ear; Equations; Kinematics; Mobile robots; Nonlinear dynamical systems; Robust control; Robustness; State feedback;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827862
