Practical stabilization of nonlinear systems in chained form

C. Canudas de wit; Henk Nijmeijer; H. Berghuis; Harry Berghuis

doi:10.1109/CDC.1994.411684

Practical stabilization of nonlinear systems in chained form

C. Canudas de wit, Henk Nijmeijer, H. Berghuis, Harry Berghuis

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.

Original language	English
Title of host publication	Proceedings of the 33rd IEEE Conference on Decision and Control
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	3475-3480
Number of pages	6
ISBN (Print)	0-7803-1968-0
DOIs	https://doi.org/10.1109/CDC.1994.411684
Publication status	Published - 14 Dec 1994
Event	33rd IEEE Conference on Decision and Control, CDC 1994 - Buena Vista Palace, Lake Buena Vista, United States Duration: 14 Dec 1994 → 16 Dec 1994 Conference number: 33

Publication series

Name
Publisher	IEEE

Conference

Conference	33rd IEEE Conference on Decision and Control, CDC 1994
Abbreviated title	CDC
Country/Territory	United States
City	Lake Buena Vista
Period	14/12/94 → 16/12/94

Keywords

METIS-141672
IR-96360

Access to Document

10.1109/CDC.1994.411684

wit94practical

Cite this

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title = "Practical stabilization of nonlinear systems in chained form",

abstract = "This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.",

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author = "{Canudas de wit}, C. and Henk Nijmeijer and H. Berghuis and Harry Berghuis",

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doi = "10.1109/CDC.1994.411684",

language = "English",

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note = "33rd IEEE Conference on Decision and Control, CDC 1994, CDC ; Conference date: 14-12-1994 Through 16-12-1994",

}

Canudas de wit, C, Nijmeijer, H, Berghuis, H & Berghuis, H 1994, Practical stabilization of nonlinear systems in chained form. in Proceedings of the 33rd IEEE Conference on Decision and Control. IEEE, Piscataway, NJ, USA, pp. 3475-3480, 33rd IEEE Conference on Decision and Control, CDC 1994, Lake Buena Vista, Florida, United States, 14/12/94. https://doi.org/10.1109/CDC.1994.411684

TY - GEN

T1 - Practical stabilization of nonlinear systems in chained form

AU - Canudas de wit, C.

AU - Nijmeijer, Henk

AU - Berghuis, H.

AU - Berghuis, Harry

N1 - Conference code: 33

PY - 1994/12/14

Y1 - 1994/12/14

N2 - This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.

AB - This paper presents a hybrid controller for the practical stabilization of general n-dimensional nonlinear systems in one-chained form. This controller consists of two parts: 1) a discrete-time part that practically stabilizes a subset of the system states; and 2) a piecewise continuous-time part that steers the remaining state-components to an arbitrarily small neighborhood of zero. One attractive feature of the proposed control approach is that it straightforwardly allows for generalizations in the sense that integrators can be put in cascade with the control inputs without affecting the closed-loop stability properties. This yields smoother control inputs, which makes the hybrid controller particularly useful for some relevant applications like mobile robots.

KW - METIS-141672

KW - IR-96360

U2 - 10.1109/CDC.1994.411684

DO - 10.1109/CDC.1994.411684

M3 - Conference contribution

SN - 0-7803-1968-0

SP - 3475

EP - 3480

BT - Proceedings of the 33rd IEEE Conference on Decision and Control

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 33rd IEEE Conference on Decision and Control, CDC 1994

Y2 - 14 December 1994 through 16 December 1994

ER -

Practical stabilization of nonlinear systems in chained form

Abstract

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