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Rapport Année : 1998

Non-Robustness of Continuous Homogeneous Stabilizers for Affine Control Systems

Pascal Morin
Claude Samson

Résumé

This paper focuses on asymptotic point-stabilization of smooth affine control systems. For asymptotic feedback stabilizers, a simple definition of {robustness} with respect to unmodeled dynamics is adopted. Two theorems are then proved which state sufficient conditions for the {non-robustness} of homogeneous stabilizers. The first theorem, which applies to systems that may contain a drift term, involves a specific class of feedback stabilizers. The second one, which applies to driftless systems and is stated independently of any particular stabilizer, provides a condition related to an eventual loss of rank of the accessibility distribution. One of the consequences of the second result is that, for {chained-form systems}, no (static) continuous homogeneous exponential stabilizer (some of which have been proposed in the literature) can be robust in the sense defined herein. Examples are provided which illustrate a typical application of each result.

Domaines

Autre [cs.OH]
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Dates et versions

inria-00073176 , version 1 (24-05-2006)

Identifiants

  • HAL Id : inria-00073176 , version 1

Citer

David A. Lizárraga, Pascal Morin, Claude Samson. Non-Robustness of Continuous Homogeneous Stabilizers for Affine Control Systems. RR-3508, INRIA. 1998. ⟨inria-00073176⟩
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