A geometric approach to feedback stabilization of nonlinear systems with drift

✍ Scribed by Hannah Michalska; Miguel Torres-Torriti

• Publisher: Elsevier Science
• Year: 2003
• Tongue: English
• Weight: 372 KB
• Volume: 50
• Category: Article
• ISSN: 0167-6911
• DOI: 10.1016/s0167-6911(03)00169-5

✦ Synopsis

The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are a ne in control and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov type function, but requires the solution of a nonlinear programming satisÿcing problem stated in terms of the logarithmic coordinates of ows. As opposed to other approaches, point-to-point steering is not required to achieve asymptotic stability. Instead, the ow of the controlled system is required to intersect periodically a certain reachable set in the space of the logarithmic coordinates.