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Semi-global minimal time hybrid robust stabilization of analytic driftless control-affine systems

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2 Author(s)
Prieur, C. ; LAAS-CNRS, 7, avenue du Colonel Roche 31077 Toulouse, France ; Trélat, E.

We investigate the problem of semi-global minimal time robust stabilization of analytic driftless control-affine systems, by means of a hybrid state feedback law. Our main result is that, in the absence of singular minimal time solutions, the solutions of the closed-loop system converge to the origin in quasi-minimal time (for a given bound on the controller) with a robustness property with respect to small measurement noise and external disturbances.

Published in:

Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Date of Conference:

12-15 Dec. 2005