Application of backstepping techniques to the time-varying exponential stabilisation of chained form systems

DOI10.1016/S0947-3580(97)70059-1MaRDI QIDQ1365645zbMATH OpenOpenAlexFDO

Authors M. García

Publication date 4 September 1997

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0947-3580(97)70059-1

zbMATH Keywords

asymptotic rate of convergencebacksteppingchained systemdynamic extensionexponential stabilitynonholonomic systemstime-varying feedbacks

Mathematics Subject Classification ID

Model systems in control theory (93C99) Stabilization of systems by feedback (93D15)

Review text

A backstepping technique is used to derive explicit time-varying feedbacks that ensure exponential stability of the closed-loop system. Two classes of control laws are proposed, with one of them involving a dynamic extension of the original chained system. By comparison with time-varying control design studies previously reported in the literature on the subject, the proposed method presents the advantage of providing a lower-bound of the asymptotic rate of convergence.

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Cited in

(5)

• Backstepping for nonsmooth systems
• Discontinuous exponential stabilization of chained form systems
• UGAS of skew-symmetric time-varying systems: application to stabilization of chained form systems
• Global stabilization and asymptotic tracking for a class of nonlinear systems by means of time-varying feedback
• Smooth time-varying stabilization of driftless systems over communication channels

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