A Hybrid Controller based on Invariant Manifolds for the Stabilization of Chained Form Systems

Aimed at the stabilization problem of n-dimension chained system, the construct method of a hybrid control system is proposed in this paper. It is demonstrated that the proposed hybrid controller consists of a high-level controller and a low-level controller, and it can stabilize a given chained system from the initial state, which the initial state of x₁ don´t equate to zero, to the origin. Finally, a numerical example is shown to illustrate the construct method of the hybrid controller proposed in this paper, and the simulation results demonstrate the effectiveness of the hybrid controller