Robust stabilization of driftless systems with hybrid open-loop/feedback control

Proceedings of the American Control Conference

Volumn 6, Issue , 2000, Pages 3929-3933

  Morin, Pascal ^a   Samson, Claude ^a  

^a INRIA   (France)

Author keywords

Asymptotic stabilization; Nonlinear system; Robust control

Indexed keywords

ASYMPTOTIC STABILIZATION; CONTROL VECTOR; EXPONENTIAL STABILIZATION; OPEN-LOOP; ROBUST STABILIZATION;

NONLINEAR SYSTEMS; ROBUST CONTROL; ROBUSTNESS (CONTROL SYSTEMS); ALGORITHMS; ASYMPTOTIC STABILITY; EIGENVALUES AND EIGENFUNCTIONS; FEEDBACK CONTROL; MATRIX ALGEBRA; NONLINEAR CONTROL SYSTEMS; SET THEORY;

STABILIZATION; ROBUSTNESS (CONTROL SYSTEMS);

DRIFTLESS SYSTEMS; HYBRID OPEN LOOP;

EID: 0034540430     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2000.876959     Document Type: Conference Paper

References (8)

1. M. K. Bennani and P. Rouchon. Robust stabilization of flat and chained systems. In European Control Conference (ECC), pages 2642-2646, 1995.
2. M. Fliess, J. LBvine, P. Martin, and P. Rouchon. Flatness and defect of non-linear systems: introductory theory and examples. International Journal of Control, 61:1327-1361, 1995.
3. W. Liu. An approximation algorithm for nonholonomic systems. SIAM Journal on Control and Optimization, 35:1328-1365, 1997.
4. D.A. Lizarraga, P. Morin, and C. Samson. Non-robustness of continuous homogeneous stabilizers for affine systems. Technical Report 3508, INRIA, 1998. Available at http://www.inria.fr/RRRT/RR-3508.html.
5. S. Monaco and D. Normand-Cyrot. An introduction to motion planning using multirate digital control. In IEEE Conf. on Decision and Control (CDC), pages 1780-1785, 1991.
6. P. Morin and C. Samson. Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics. ESAZM:COCV, 4:1-35, 1999.
7. R.M. Murray and S.S. Sastry. Nonholonomic motion planning: Steering using sinusoids. IEEE Trans. on Automatic Control, 38:700-716, 1993.
8. H. J. Sussmann and W. Liu. Limits of highly oscillatory controls ans approximation of general paths by admissible trajectories. In IEEE Conf. on Decision and Control (CDC), pages 437-442, 1991.