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Hybrid feedback laws for a class of cascade nonlinear control systems

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2 Author(s)
Kolmanovsky, I. ; Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA ; Mcclamroch, N.H.

A stabilization problem for a class of nonlinear control systems is considered. Systems in this class can be viewed as a cascade connection of a linear time-invariant subsystem, a nonlinear time-periodic static subsystem, and an integrator. Hybrid logic-based feedback controllers are constructed to globally stabilize these systems to the origin. The controllers operate by switching between various time-periodic control functions at discrete-time instants. As specific applications, we consider stabilization of nonholonomic control systems in power form to the origin and stabilization of trajectories for a class of nonlinear control systems. Numerical examples of global stabilization and tracking are reported

Published in:

Automatic Control, IEEE Transactions on  (Volume:41 ,  Issue: 9 )