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Communication Dans Un Congrès Année : 2011

Combining a backstepping controller with a local stabilizer

Résumé

We consider nonlinear control systems for which there exist some structural obstacles to the design of classical continuous stabilizing feedback laws. More precisely, it is studied systems for which the backstepping tool for the design of stabilizers can not be applied. On the contrary, it leads to feedback laws such that the origin of the closed-loop system is not globally asymptotically stable, but a suitable attractor (strictly containing the origin) is practically asymptotically stable. Then, a design method is suggested to build a hybrid feedback law combining a backstepping controller with a locally stabilizing controller. The results are illustrated for a nonlinear system which, due to the structure of the system, does not have a priori any globally stabilizing backstepping controller.
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Dates et versions

hal-00560874 , version 1 (05-04-2011)

Identifiants

  • HAL Id : hal-00560874 , version 1

Citer

Humberto Stein Shiromoto, Vincent Andrieu, Christophe Prieur. Combining a backstepping controller with a local stabilizer. ACC 2011 - American Control Conference, Jun 2011, San Francisco, Californie, United States. pp.s/n. ⟨hal-00560874⟩
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