Adding an integration with prescribed local behavior

M. Sofiane Benachour (1) , Vincent Andrieu (1) , Laurent Praly (2) , Hassan Hammouri (1)

1 LAGEP - Laboratoire d'automatique et de génie des procédés
2 CAS - Centre Automatique et Systèmes

Among the non-linear control techniques, some Lyapunov design methods (Forwarding / Backstepping) take advantage of the structure of the system (Feedforward-form / Feedback-form) to formulate a continuous control law which stabilizes globally and asymptotically the equilibrium. In addition to stabilization, we focus on the local behaviour of the closed loop system, providing conditions under which we can predetermine the behaviour around the origin for Feedforward systems.

Domaines: Automatique / Robotique

M. Sofiane Benachour, Vincent Andrieu, Laurent Praly, Hassan Hammouri. Adding an integration with prescribed local behavior. 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 2011, Dec 2011, Orlando, United States. pp.7555 - 7560, ⟨10.1109/CDC.2011.6160313⟩. ⟨hal-00677858⟩