A new notion of persistency-of-excitation for UGAS of NLTV systems: Application to stabilisation of nonholonomic systems

Author

Loria, Antonio ; Panteley, Elena ; Teel, Andrew

Author_Institution

LAG-ENSIEG, St. Martin d´Hères, France

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

1363

Lastpage

1368

Abstract

In this note we propose a new persistency of excitation condition for stability of nonlinear time-varying (NLTV) systems, which applies to adaptive systems with state-dependent regressor signals. We give sufficient conditions for uniform global asymptotic stability (UGAS). This result gives a transparent interpretation to the time-varying stabilization mechanism for nonholonomic systems. For 3-degrees-of-freedom chained systems we introduce the δ-PE stabilizers. These are smooth everywhere, and guarantee UGAS.

Keywords

adaptive systems; asymptotic stability; mobile robots; nonlinear systems; regression analysis; signal processing; time-varying systems; δ-PE stabilizers; 3-degrees-of-freedom chained systems; NLTV systems; UGAS; adaptive systems; nonholonomic system stabilisation; nonlinear time-varying systems; persistency-of-excitation; state-dependent regressor signals; uniform global asymptotic stability; Adaptive systems; Asymptotic stability; Convergence; Lyapunov methods; Standards; Time-varying systems; Trajectory; UGAS; adaptive systems; nonautonomous; nonholonomic;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099501