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2011 American Control Conference - ACC 2011, San Francisco, Californie : United States (2011)

Combining a backstepping controller with a local stabilizer

Humberto Stein Shiromoto 1, Vincent Andrieu 2, Christophe Prieur 1

(2011)

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.

1 :	Grenoble Images Parole Signal Automatique (GIPSA-lab)
	CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
2 :	Laboratoire d'automatique et de génie des procédés (LAGEP)
	CNRS : UMR5007 – Université Claude Bernard - Lyon I – École Supérieure Chimie Physique Électronique de Lyon

Domaine

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Sciences de l'ingénieur/Automatique / Robotique

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Contributeur : Christophe Prieur <>

Soumis le : Mardi 5 Avril 2011, 15:52:42

Dernière modification le : Lundi 5 Septembre 2011, 16:40:58