Hybrid feedback laws for a class of cascade nonlinear controlsystems |
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Authors: | Kolmanovsky I McClamroch NH |
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Affiliation: | Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI; |
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Abstract: | A stabilization problem for a class of nonlinear control systems is considered. Systems in this class can be viewed as a cascade connection of a linear time-invariant subsystem, a nonlinear time-periodic static subsystem, and an integrator. Hybrid logic-based feedback controllers are constructed to globally stabilize these systems to the origin. The controllers operate by switching between various time-periodic control functions at discrete-time instants. As specific applications, we consider stabilization of nonholonomic control systems in power form to the origin and stabilization of trajectories for a class of nonlinear control systems. Numerical examples of global stabilization and tracking are reported |
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