We study the problem of globally stabilizing through saturated smooth time-varying measurement feedback a class of time-varying systems with measurement noise and uncertainties having an upper triangular structure (feedforward form). We propose a novel step-by step design, based on splitting a n-dimensional system Σ into n one-dimensional systems Σ j, j = 1, . . . , n, finding a smooth time-varying measurement, feedback controller Cj for each system Σj and selecting the parameters of each Cj in such a way that altogether the controllers Cj, j = 1, . . . ,n, give a controller for the overall system σ. We apply these results to a three-dimensional system in chained form with uncertainties and disturbances with finite energy
Stabilization of a class of time varying systems with control saturations and measurement noise with application to nonholonomic systems / Battilotti, Stefano. - STAMPA. - (2003), pp. 4463-4468. (Intervento presentato al convegno 42nd IEEE Conference on Decision and Control tenutosi a Maui, HI; United States nel 09-12 December 2003) [10.1109/CDC.2003.1272232].
Stabilization of a class of time varying systems with control saturations and measurement noise with application to nonholonomic systems
BATTILOTTI, Stefano
2003
Abstract
We study the problem of globally stabilizing through saturated smooth time-varying measurement feedback a class of time-varying systems with measurement noise and uncertainties having an upper triangular structure (feedforward form). We propose a novel step-by step design, based on splitting a n-dimensional system Σ into n one-dimensional systems Σ j, j = 1, . . . , n, finding a smooth time-varying measurement, feedback controller Cj for each system Σj and selecting the parameters of each Cj in such a way that altogether the controllers Cj, j = 1, . . . ,n, give a controller for the overall system σ. We apply these results to a three-dimensional system in chained form with uncertainties and disturbances with finite energyFile | Dimensione | Formato | |
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