2015/03/12 by Humberto Stein Shiromoto, Shiromoto, Humberto Stein, Vincent Andrieu +3
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1503.03900
openalex publication_date 2015/03/12 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
Systems for which the backstepping technique cannot be applied are considered. A criterion for the design of a hybrid feedback law is proposed by blending a local stabilizer with a backstepping controller. This hybrid feedback law renders the origin globally asymptotically stable for the closed-loop system. The selection criterion is based on choice of the size of a compact set included in the basin of attraction of the local controller. The results are illustrated by simulations.