Title :
Forwarding Design With Prescribed Local Behavior
Author :
Benachour, M. Sofiane ; Andrieu, Vincent ; Praly, Laurent ; Hammouri, Hassan
Author_Institution :
Univ. de Lyon, Lyon, France
Abstract :
Among the non-linear control techniques, some Lyapunov design methods (Forwarding/Backstepping) take advantage of the structure of the system (Feedforward-form/Feedback-form) to formulate a continuous control law which stabilizes globally and asymptotically the equilibrium. In addition to stabilization, we focus on the local behaviour of the closed loop system, providing conditions under which we can predetermine the behaviour around the origin for Feedforward systems.
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; feedback; feedforward; nonlinear control systems; Lyapunov design method; asymptotic stabilization; closed loop system; continuous control law; feedforward form-feedback form design method; feedforward system; forwarding design; forwarding-backstepping method; global stabilization; local behaviour; nonlinear control technique; Approximation methods; Equations; Linear matrix inequalities; Lyapunov methods; Matrix decomposition; Nonlinear systems; Vectors; Feedforward form; Lyapunov design; first order approximation; forwarding; stabilization;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2277632
