DocumentCode :
847173
Title :
Global Asymptotic Stabilization for Nonminimum Phase Nonlinear Systems Admitting a Strict Normal Form
Author :
Andrieu, V. ; Praly, Laurent
Author_Institution :
LAAS-CNRS, Toulouse Univ., Toulouse
Volume :
53
Issue :
5
fYear :
2008
fDate :
6/1/2008 12:00:00 AM
Firstpage :
1120
Lastpage :
1132
Abstract :
In this paper, we address the problem of global asymptotic stabilization by output feedback for nonminimum phase nonlinear systems which admit a strict normal form. We assume the knowledge of an observer and, depending on its properties, we propose various approaches to design the control law. Each of these approaches needs a different stabilizability assumption on the inverse dynamics. In this way, within a unified framework, we recover and extend some already published results and we establish new ones.
Keywords :
asymptotic stability; nonlinear control systems; observers; global asymptotic stabilization; inverse dynamics; nonminimum phase nonlinear systems; stabilizability assumption; strict normal form; Asymptotic stability; Measurement errors; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Robustness; Backstepping; nonmimum phase system; observer; output feedback;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2008.923657
Filename :
4608921
Link To Document :
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