Asymptotic Controllability and Input-to-State Stabilization: The Effect of Actuator Errors

Abstract

We discuss several issues related to the stabilization of nonlinear systems. For a given continuously stabilizable system, we review some constructions of feedbacks that render the system input-to-state stable with respect to actuator errors. We also announce a new feedback design that makes globally asymptotically controllable systems input-to-state stable to actuator errors and small observation noise. We illustrate our constructions using the nonholonomic integrator, and we discuss a related feedback design for systems with disturbances.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2003
Accession Number
ADA437323

Entities

People

  • Eduardo D. Sontag
  • Michael Malisoff

Organizations

  • Rutgers University–New Brunswick

Tags

Communities of Interest

  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Actuators
  • Closed Loop Systems
  • Construction
  • Control Systems
  • Differential Equations
  • Dynamics
  • Equations
  • Feedback
  • Integrals
  • Integrators
  • Linear Systems
  • Lyapunov Functions
  • Mathematics
  • Nonlinear Systems
  • Observation
  • Sampling
  • Trajectories

Fields of Study

  • Mathematics

Readers

  • Control Systems Engineering.
  • Materials Science and Engineering.