Hybrid robust stabilization in the Martinet case

• Autorzy: Prieur C. , Trelat E.
• Języki publikacji: EN

Abstrakty

EN

In a previous work, Prieur, Trelat (2006), we derived a result of semi-global minimal time robust stabilization for analytic control systems with controls entering linearly, by means of a hybrid state feedback law, under the main assumption of the absence of minimal time singular trajectories. In this paper, we investigate the Martinet case, which is a model case in 1R3, where singular mini-mizers appear, and show that such a stabilization result still holds. Namely, we prove that the solutions of the closed-loop system converge to the origin in quasi minimal time (for a given bound on the controller) with a robustness property with respect to small measurement noise, external disturbances and actuator errors.

Słowa kluczowe

EN

Martinet case; hybrid feedback; robust stabilization; measurement errors; actuator noise; external disturbances; optimal control; singular trajectory; sub-Riemannian geometry

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2006
• Tom: Vol. 35, no 4
• Strony: 923--945
• Opis fizyczny: Bibliogr. 42 poz.

Twórcy

autor

Prieur C.

autor

Trelat E.

• LAAS-CNRS, 7 avenue du Colonel Roche, 31077 Toulouse, France,

Bibliografia

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