Integrator forwarding via dynamic scaling

Laurent Praly (1) , D. Carnevale (2) , Alessandro Astolfi (3)

1 CAS - Centre Automatique et Systèmes
2 Università degli Studi di Roma Tor Vergata [Roma] = University of Rome Tor Vergata
3 EEE Department

The problem of integrator forwarding is revisited using the notion of dynamically scaled (control) Lyapunov function. A new class of dynamic stabilizing control laws is presented, and connections with classical forwarding are established.

Domaines: Automatique / Robotique

Laurent Praly, D. Carnevale, Alessandro Astolfi. Integrator forwarding via dynamic scaling. 49th IEEE Conference on Decision and Control, Dec 2010, Atlanta, United States. pp.5955-5960, ⟨10.1109/CDC.2010.5717175⟩. ⟨hal-00554865⟩