Nonlinear programming and the CBH formula in feedback stabilization of nonlinear systems with drift

Author

Michalska, Hannah ; Torres-Torriti, Miguel

Author_Institution

Dept. of Electr. & Comput. Eng., McGill Univ., Montreal, Que., Canada

Volume

4

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

3633

Abstract

This paper presents an approach for the asymptotic stabilization of strongly nonlinear systems that are affine in control and which cannot be stabilized by continuous state feedback. The approach only requires that along trajectories of the closed-loop system a chosen Lyapunov type function is decreased periodically (as opposed to monotonically) by employing controls which result from an on-line solution of a nonlinear programming satisficing problem stated in terms of expressions derived from the composition of flows via the Campbell-Baker-Hausdorff formula.

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; nonlinear control systems; nonlinear programming; state feedback; CBH formula; Campbell-Baker-Hausdorff formula; Lyapunov function; asymptotic stabilization; closed loop system; continuous state feedback; feedback stabilization; nonlinear programming; nonlinear systems; Algebra; Control systems; Feedback control; Functional programming; Hydrogen; Lyapunov method; Nonlinear control systems; Nonlinear systems; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1271712

Filename

1271712