Homogeneous stabilization of the extended chained form system

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

Research output: Contribution to journalConference articlepeer-review

6 Citations (Scopus)
1 Downloads (Pure)


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 languageEnglish
Pages (from-to)127-132
Number of pages6
JournalIFAC Proceedings Volumes
Publication statusPublished - 2002
Event15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress) - Barcelona, Spain
Duration: 21 Jul 200226 Jul 2002
Conference number: 15


  • Constraints
  • Dynamics
  • Nonlinear control
  • Stability


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