On hyper-exponential output-feedback stabilization of a double integrator by using artificial delay

Denis Efimov (1) , Emilia Fridman (2) , Wilfrid Perruquetti (3, 4, 1) , Jean-Pierre Richard (3)

1 NON-A-POST - Non-Asymptotic estimation for online systems
2 Department of Electrical Engineering
3 Centrale Lille
4 Université de Lille

The problem of output-feedback stabilization of a double integrator is revisited with the objective of achieving the rates of convergence faster than exponential. It is assumed that only position is available for measurements, and the designed feedback is based on the output and its delayed values without an estimation of velocity. It is shown that by selecting the closed-loop system to be homogeneous with negative or positive degree it is possible to accelerate the rate of convergence in the system at the price of a small steady-state error. Efficiency of the proposed control is demonstrated in simulations.

Domaines: Automatique / Robotique

Denis Efimov, Emilia Fridman, Wilfrid Perruquetti, Jean-Pierre Richard. On hyper-exponential output-feedback stabilization of a double integrator by using artificial delay. Proc. 17th European Control Conference (ECC), Jun 2018, Limassol, Cyprus. ⟨hal-01755086⟩