Robust point-stabilization of nonlinear affine control systems
This paper gives an overview of the results developed by the authors in some previous papers and it contains new results on the exponential stabilization of nonlinear driftless control systems in \(\mathbb{R}^n\), of the form \[ \dot x=\sum_{i=1}^m f_i(x) u_i \quad (m< n), \tag \(S_0\) \] which are locally controllable at the origin. The authors address the problem of constructing explicit feedback laws which (locally) exponentially stabilize the origin \(x=0\) of the controlled system, and also the problem of the robustness with respect to sampling of the control laws. It is important to know whether these feedbacks are exponential stabilizers for any perturbed system of the form \[ \dot x= \sum_{i=1}^m (f_i(x)+ h_i(\varepsilon,x)) u_i, \tag \(S_\varepsilon\) \] with \(h_i\) analytic in \(\mathbb{R}\times \mathbb{R}^n\) and \(h_i (0,x)= 0\), when \(|\varepsilon |\) is small enough. The authors consider an extended control system \((\overline{S}_0)\) defined as the nominal system within the set of systems \[ \dot x= \sum_{i=1}^m (f_i(x)+ h_i(\varepsilon,x)), \qquad \dot y= \sum_{k\in \mathbb{N}} \delta_{kT} (x- y_{-\alpha}), \tag \(\overline{S}_\varepsilon\) \] where \(\delta_{kT}\) is the classical Dirac impulse at the time-instant \(kT\), \(y_{-\alpha}(t)= y(t- \alpha)\) and \(u(y,t)\) is a continuous time-periodic feedback. First of all there are stated sufficient conditions under which there exists \(\varepsilon_0> 0\) such that the origin of \((\overline{S}_\varepsilon)\) controlled by \(u(y,t)\) is locally exponentially stable for any \(\varepsilon\in (-\varepsilon_0, \varepsilon_0)\). On the other hand, the authors present a general algorithm to construct a robust and exponential stabilizer for \((S_0)\). A hybrid law is precisely constructed and it is shown that robustness for such law is conserved when sampling the control function at a large enough frequency. Because it is simpler to work with approximations of control systems, the authors consider a homogeneous approximation of \((S_0)\). The above-mentioned algorithm is applied to such an approximation and a feedback control law is obtained. Thus, the asymptotic stabilization of the origin of the homogeneous approximation automatically ensures that the origin of the initial control system \((S_0)\) is also asymptotically stabilized by the same feedback control law. For the entire collection see [Zbl 0922.00034].
- Exponential stabilization of driftless nonlinear control systems using homogeneous feedback
- Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics
- scientific article; zbMATH DE number 4128741
- scientific article; zbMATH DE number 18081
- Robust control of nonlinear affine systems
- Lyapunov theorems for systems described by retarded functional differential equations
- Stabilization under round-robin scheduling of control inputs in nonlinear systems
- scientific article; zbMATH DE number 4128741 (Why is no real title available?)
- Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics
- Exponential stability and stabilization of extended linearizations via continuous updates of Riccati-based feedback
- Global stabilization and asymptotic tracking for a class of nonlinear systems by means of time-varying feedback
- Hybrid robust stabilization in the Martinet case
- Stabilization by means of time-varying hybrid feedback
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