Asymptotic stabilization of nonlinear systems via sign-indefinite damping injection

Author

Sarras, I. ; Ortega, Romeo ; Panteley, Elena

Author_Institution

Lab. des Signaux et Syst., SUPELEC, Gif-sur-Yvette, France

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

2964

Lastpage

2969

Abstract

The problem of asymptotic stabilization of nonlinear, “double integrator”, open-loop stable systems via sign-indefinite damping injection is considered in this paper. A constructive procedure to reduce the problem to the solution of a set of partial differential equations is presented. Particular emphasis is given to mechanical systems, for which it is shown that the proposed approach obviates the usual detectability assumption needed to conclude asymptotic stability via LaSalle´s invariance principle.

Keywords

asymptotic stability; damping; invariance; nonlinear systems; open loop systems; partial differential equations; LaSalle invariance principle; asymptotic stability; asymptotic stabilization; detectability assumption; double integrator system; mechanical system; nonlinear system; open-loop stable system; partial differential equation; sign-indefinite damping injection; Acceleration; Asymptotic stability; Damping; Force; Lyapunov methods; Mechanical systems; Vectors; Nonlinear control; asymptotic stability; damping injection; mechanical systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426301

Filename

6426301