Forwarding Design With Prescribed Local Behavior

Author

Benachour, M. Sofiane ; Andrieu, Vincent ; Praly, Laurent ; Hammouri, Hassan

Author_Institution

Univ. de Lyon, Lyon, France

Volume

58

Issue

12

fYear

2013

fDate

Dec. 2013

Firstpage

3011

Lastpage

3023

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;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2013.2277632

Filename

6576177