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Asymptotic Controllability and Input-to-State Stabilization: The Effect of Actuator Errors (1998)

Abstract

We discuss several issues related to the stabilization of nonlinear systems. For a given continuously stabilizable system, we review some constructions of feedbacks that render the system input-to-state stable with respect to actuator errors. We also announce a new feedback design that makes globally asymptotically controllable systems input-to-state stable to actuator errors and small observation noise. We illustrate our constructions using the nonholonomic integrator, and we discuss a related feedback design for systems with disturbances.. Prepared in cooperation with Louisiana State University and A&M College, Baton Rouge, LA. Sponsored in part by National Science Foundation (NSF) under grant no. CCR-0206789.

Publication details

Download	http://handle.dtic.mil/100.2/ADA437323
Contributors	RUTGERS - THE STATE UNIV NEW BRUNSWICKNJ DEPT OF MATHEMATICS
Repository	Defense Technical Information Center OAI-PMH Repository (United States)
Keywords	OPERATIONS RESEARCH, CYBERNETICS, STABILIZATION, CONTROL SYSTEMS, CONTROL THEORY, STATIC STABILITY, INPUT, NONLINEAR SYSTEMS, SMOOTHING(MATHEMATICS), LYAPUNOV FUNCTIONS, CLOSED LOOP SYSTEMS, FEEDBACK, ERRORS, ACTUATORS., *GAC(GLOBALLY ASYMPTOTICALLY CONTROLLABLE), ASYMPTOTIC CONTROLLABILITY, ISS(INPUT TO STATE STABILITY)
Language	eng