Control of nonlinear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers

We show how any linear feedback which asymptotically stabilizes the origin of a linear integrator system of order (n-1) induces a simple continuous time-varying feedback which exponentially stabilizes the origin of a nonlinear (2, n) single-chain system. The design method is related to, and extends...

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Bibliographic Details
Published inProceedings of the 36th IEEE Conference on Decision and Control Vol. 1; pp. 618 - 623 vol.1
Main Authors Morin, P., Samson, C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1997
Subjects
Control systems
Convergence
Equations
Feedback
Lyapunov method
Nonlinear control systems
Polynomials
Stability criteria
Transforms
Vehicles
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ISBN0780341872
9780780341876
ISSN0191-2216
DOI10.1109/CDC.1997.650699

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Summary:We show how any linear feedback which asymptotically stabilizes the origin of a linear integrator system of order (n-1) induces a simple continuous time-varying feedback which exponentially stabilizes the origin of a nonlinear (2, n) single-chain system. The design method is related to, and extends in the specific case of chained systems, a method developed by M'Closkey and Murray (1997) in order to transform smooth feedback stabilizers yielding slow polynomial convergence into continuous homogeneous ones which give exponential convergence.
ISBN:0780341872
9780780341876
ISSN:0191-2216
DOI:10.1109/CDC.1997.650699