Title :
Robust stabilization of chained systems via hybrid control
Author :
Prieur, Christophe ; Astolfi, Alessandro
Author_Institution :
Lab. SATIE, CNRS-ENS de Cachan, France
Abstract :
The problem of global robust exponential stabilization of nonholonomic chained systems is addressed and solved by means of a hybrid state feedback control law. It is shown that the control law yields global exponential stability and global robustness against a class of small measurement errors, actuator noises and exogenous disturbances.
Keywords :
asymptotic stability; robust control; state feedback; actuator noises; exogenous disturbances; exponential stabilization; global robust; holonomic chained systems; hybrid control; hybrid state feedback control; measurement errors; Actuators; Control systems; Error correction; Lyapunov method; Measurement errors; Noise robustness; Robust control; Robust stability; State feedback; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2003.817909
