A switching algorithm for global exponential stabilization of uncertain chained systems

Zairong Xi; Gang Feng; Z. P. Jiang; Daizhan Cheng

doi:10.1109/TAC.2003.817937

A switching algorithm for global exponential stabilization of uncertain chained systems

Zairong Xi, Gang Feng, Z. P. Jiang, Daizhan Cheng

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.

Original language	English (US)
Pages (from-to)	1793-1798
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	48
Issue number	10
DOIs	https://doi.org/10.1109/TAC.2003.817937
State	Published - Oct 2003

Keywords

Backstepping
Chained form systems
Exponential stabilization
Input-state scaling
Lyapunov stability
Robustness

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TAC.2003.817937

Cite this

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title = "A switching algorithm for global exponential stabilization of uncertain chained systems",

abstract = "This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.",

keywords = "Backstepping, Chained form systems, Exponential stabilization, Input-state scaling, Lyapunov stability, Robustness",

author = "Zairong Xi and Gang Feng and Jiang, {Z. P.} and Daizhan Cheng",

note = "Funding Information: Manuscript received January 21, 2003; revised May 20, 2003. Recommended by Associate Editor J. Huang. This work was supported in part by a Grant from the Research Grants Council of the Hong Kong Special Administrative Region, China under Project CityU 1024/02E, the National Natural Science Foundation of China and the Institute of Systems Science, Academy of Mathematics and Systems Science, and the Chinese Academy of Sciences. The work of Z. P. Jiang was supported in part by the National Science Foundation under Grant ECS-0093176 and Grant INT-9987317.",

year = "2003",

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doi = "10.1109/TAC.2003.817937",

language = "English (US)",

volume = "48",

pages = "1793--1798",

journal = "IEEE Transactions on Automatic Control",

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AU - Feng, Gang

AU - Jiang, Z. P.

AU - Cheng, Daizhan

N1 - Funding Information: Manuscript received January 21, 2003; revised May 20, 2003. Recommended by Associate Editor J. Huang. This work was supported in part by a Grant from the Research Grants Council of the Hong Kong Special Administrative Region, China under Project CityU 1024/02E, the National Natural Science Foundation of China and the Institute of Systems Science, Academy of Mathematics and Systems Science, and the Chinese Academy of Sciences. The work of Z. P. Jiang was supported in part by the National Science Foundation under Grant ECS-0093176 and Grant INT-9987317.

PY - 2003/10

Y1 - 2003/10

N2 - This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.

AB - This note deals with chained form systems with strongly nonlinear unmodeled dynamics and external disturbances. The objective is to design a robust nonlinear state feedback law such that the closed-loop system is globally Κ-exponentially stable. We propose a novel switching control strategy involving the use of input/state scaling and integrator backstepping. The new features of our controllers include the ability to achieve Lyapunov stability, exponential convergence, and robustness to a set of uncertain drift terms.

KW - Backstepping

KW - Chained form systems

KW - Exponential stabilization

KW - Input-state scaling

KW - Lyapunov stability

KW - Robustness

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JO - IEEE Transactions on Automatic Control

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A switching algorithm for global exponential stabilization of uncertain chained systems

Abstract

Keywords

ASJC Scopus subject areas

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