Exponential Stabilization of Nonlinear Driftless Systems with Robustness to Unmodeled Dynamics

Pascal Morin 1 Claude Samson
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Exponential stabilization of nonlinear driftless affine control systems is addressed with the concern of achieving robustness with respect to imperfect knowledge of the system's control vector fields. In order to satisfy this robustness requirement, and inspired by \cite{bennani95} where the same issue was first addressed, we consider a control strategy which consists of applying periodically updated open-loop controls that are continuous with respect to state initial conditions. These controllers are more precisely described as continuous time-periodic feedbacks associated with a specific dynamic extension of the original system. Sufficient conditions which, if they are satisfied by the control law, ensure that the control is a robust exponential stabilizer for the extended system are given. Explicit and simple control expressions which satisfy these conditions in the case of $n$-dimensional chained systems are proposed. A constructive algorithm for the design of such control laws, which applies to any (sufficiently regular) driftless control system, is described.
Type de document :
RR-3477, INRIA. 1998
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Soumis le : mercredi 24 mai 2006 - 12:12:41
Dernière modification le : jeudi 11 janvier 2018 - 16:45:54
Document(s) archivé(s) le : dimanche 4 avril 2010 - 23:38:17



  • HAL Id : inria-00073212, version 1



Pascal Morin, Claude Samson. Exponential Stabilization of Nonlinear Driftless Systems with Robustness to Unmodeled Dynamics. RR-3477, INRIA. 1998. 〈inria-00073212〉



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