Obstructions to the existence of universal stabilizers for smooth control systems (Q706382)
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English | Obstructions to the existence of universal stabilizers for smooth control systems |
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Obstructions to the existence of universal stabilizers for smooth control systems (English)
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8 February 2005
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The paper states necessary conditions for the existence of so-called universal stabilizers (\(\mathcal U\)-stabilizers) for smooth control systems. Given a control system \[ \dot x=f(x,u), \tag{1} \] where \(f:M\times U\to TM\) (\(M\) is a smooth, \(n\)-dimensional, connected manifold) is a continuous map that, to every \(u\in U\) (\(U\) is an open subset of \(\mathbb R^m\), \(1\leq m\leq n< +\infty\)), associates a complete, smooth vector field \(f_u=f(\cdot ,u)\in\Gamma ^{\infty}(M)\), and a set \(\mathcal U\subset PC(\mathbb R;U)\) of reference input functions, a universal stabilizer is meant to be a continuous feedback law that stabilizes the state of the system asymptotically to any of the reference trajectories produced by arbitrary inputs in \(\mathcal U\). For example, the state of Brockett's nonholonomic integrator, with \(\mathcal U\) representing a set of uniformly bounded, piecewise continuous functions of time, can be asymptotically stabilized to any reference trajectory provided the latter is persistently exciting (PE). By contrast, for constant trajectories, which are not PE, asymptotic stabilization is impossible by means of continuous pure-state feedback, in view of Brocket's obstruction. However, since this obstruction can be circumvented by the use of time-varying state feedback, one might expect to be able to design a (time-varying) continuous control law capable of asymptotically stabilizing the state to arbitrary reference trajectories, be they PE or not. Nevertheless, from the results in the paper it follows that, for systems with nonholonomic constraints, if \(\mathcal U\) contains reference functions that are not PE, then the universal stabilization problem cannot be solved, even if time-varying feedback is used. Thus, the results in the paper point out inherent limitations on the capabilities of time-varying continuous feedback and suggest that convergence of the error to zero may be a too strong requirement in the framework of ``universal'' trajectory stabilization for systems with nonholonomic constraints.
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universal stabilization
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smooth control systems
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tracking
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synchronization
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systems with nonholonomic constraints
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time-varying feedback control
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persistence of excitation
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chained form system
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