Title :
Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law
Author :
Holden, Christian ; Pettersen, Kristin Y.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
This work presents two continuous time-varying control laws that globally uniformly asymptotically stabilize the origin of a vectorial generalization of the basic chained-form system. A strict Lyapunov function for the controlled system is developed, and the results verified through numerical simulation.
Keywords :
asymptotic stability; time-varying systems; vectors; continuous time-varying control laws; global uniform asymptotic Lyapunov stabilization; numerical simulation; vectorial chained-form system; vectorial generalization; Asymptotic stability; Backstepping; Control system synthesis; Control systems; Cybernetics; Lyapunov method; Numerical simulation; Time varying systems;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739321
