Displaying similar documents to “Exponential stabilization of nonlinear driftless systems with robustness to unmodeled dynamics”

Adaptive control of uncertain nonholonomic systems in finite time

Jiankui Wang, Guoshan Zhang, Hongyi Li (2009)

Kybernetika

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In this paper, the finite-time stabilization problem of chained form systems with parametric uncertainties is investigated. A novel switching control strategy is proposed for adaptive finite-time control design with the help of Lyapunov-based method and time-rescaling technique. With the proposed control law, the uncertain closed-loop system under consideration is finite-time stable within a given settling time. An illustrative example is also given to show the effectiveness of the proposed...

Constrained stabilization of a dynamic systems: a case study

Franco Blanchini, S. Cotterli, G. Koruza, S. Miani, R. Siagri, Luciano Tubaro (1999)

Kybernetika

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In this work we consider the problem of determining and implementing a state feedback stabilizing control law for a laboratory two-tank dynamic system in the presence of state and control constraints. We do this by exploiting the properties of the polyhedral Lyapunov functions, i. e. Lyapunov functions whose level surfaces are polyhedra, in view of their capability of providing an arbitrarily good approximation of the maximal set of attraction, which is the largest set of initial states...