Homogeneous stabilization of the extended chained form system

N.P.I. Aneke; D.A. Lizarraga; H. Nijmeijer

doi:10.3182/20020721-6-es-1901.00271

Homogeneous stabilization of the extended chained form system

N.P.I. Aneke, D.A. Lizarraga, H. Nijmeijer

Research output: Contribution to journal › Conference article › peer-review

6 Citations (Scopus)

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Abstract

A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated in a benchmark example by application to the V/STOL aircraft without gravity.

Original language	English
Pages (from-to)	127-132
Number of pages	6
Journal	IFAC Proceedings Volumes
DOIs	https://doi.org/10.3182/20020721-6-es-1901.00271
Publication status	Published - 2002
Event	15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress) - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002 Conference number: 15

Keywords

Constraints
Dynamics
Nonlinear control
Stability

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10.3182/20020721-6-es-1901.00271

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title = "Homogeneous stabilization of the extended chained form system",

abstract = "A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated in a benchmark example by application to the V/STOL aircraft without gravity.",

keywords = "Constraints, Dynamics, Nonlinear control, Stability",

author = "N.P.I. Aneke and D.A. Lizarraga and H. Nijmeijer",

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T1 - Homogeneous stabilization of the extended chained form system

AU - Aneke, N.P.I.

AU - Lizarraga, D.A.

AU - Nijmeijer, H.

N1 - Conference code: 15

PY - 2002

Y1 - 2002

N2 - A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated in a benchmark example by application to the V/STOL aircraft without gravity.

AB - A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that ρ-exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated in a benchmark example by application to the V/STOL aircraft without gravity.

KW - Constraints

KW - Dynamics

KW - Nonlinear control

KW - Stability

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U2 - 10.3182/20020721-6-es-1901.00271

DO - 10.3182/20020721-6-es-1901.00271

M3 - Conference article

SN - 1474-6670

SP - 127

EP - 132

JO - IFAC Proceedings Volumes

JF - IFAC Proceedings Volumes

T2 - 15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress)

Y2 - 21 July 2002 through 26 July 2002

ER -

Homogeneous stabilization of the extended chained form system

Abstract

Keywords

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