INTEGRATOR FORWARDING - A NEW RECURSIVE NONLINEAR ROBUST DESIGN

Authors
SEPULCHRE R JANKOVIC M KOKOTOVIC PV
Citation
R. Sepulchre et al., INTEGRATOR FORWARDING - A NEW RECURSIVE NONLINEAR ROBUST DESIGN, Automatica, 33(5), 1997, pp. 979-984
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
Automatica → ACNP
ISSN journal
00051098
Volume
33
Issue
5
Year of publication
1997
Pages
979 - 984
Database
ISI
SICI code
0005-1098(1997)33:5<979:IF-ANR>2.0.ZU;2-Z
Abstract
We consider the global stabilization of nonlinear systems in strict fe edforward form. We show that these systems, while not feedback lineari zable, can be (globally) transformed by feedback and diffeomorphism in to lower-triangular form. The transformation is explicit and recursive . We employ this transformation to design a globally stabilizing contr oller with optimality properties and an input-to-state stability prope rty with respect to matched uncertainties. (C) 1997 Elsevier Science L td.