Title :
Control of nonlinear chained systems. From the Routh-Hurwitz stability criterion to time-varying exponential stabilizers
Author :
Morin, P. ; Samson, C.
Author_Institution :
Inst. Nat. de Recherche en Inf. et Autom., Sophia Antipolis, France
Abstract :
We show how any linear feedback which asymptotically stabilizes the origin of a linear integrator system of order (n-1) induces a simple continuous time-varying feedback which exponentially stabilizes the origin of a nonlinear (2, n) single-chain system. The design method is related to, and extends in the specific case of chained systems, a method developed by M´Closkey and Murray (1997) in order to transform smooth feedback stabilizers yielding slow polynomial convergence into continuous homogeneous ones which give exponential convergence
Keywords :
asymptotic stability; control system synthesis; convergence; feedback; nonlinear control systems; stability criteria; time-varying systems; Routh-Hurwitz stability criterion; continuous homogeneous stabilizers; continuous time-varying feedback; exponential convergence; exponential stability; linear feedback; linear integrator system; nonlinear chained systems; single-chain system; slow polynomial convergence; smooth feedback stabilizers; time-varying exponential stabilizers; Control systems; Convergence; Equations; Feedback; Lyapunov method; Nonlinear control systems; Polynomials; Stability criteria; Transforms; Vehicles;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650699
