Practical Stabilization of Driftless Homogeneous Systems Based on the Use of Transverse Periodic Functions

Pascal Morin (1) , Claude Samson

1 ICARE - Instrumentation, control and architecture of advanced robots

We address the problem of practical stabilization of driftless nonlinear control systems with homogeneous vector fields. A general feedback design approach, based on the concept of transverse functions recently introduced by the authors, is presented. This approach allows to achieve global stabiliza- tion of any neighborhood of the origin, possibly in the presence of additive - known or measured - perturbations acting on the system.

Mots clés: PRACTICAL STABILIZATION; NONLINEAR SYSTEM; HOMOGENEOUS VECTOR FIELD; TRANSVERSE FUNCTION

Domaines: Autre [cs.OH]

Pascal Morin, Claude Samson. Practical Stabilization of Driftless Homogeneous Systems Based on the Use of Transverse Periodic Functions. RR-4184, INRIA. 2001. ⟨inria-00072439⟩