Immersion and invariance stabilization of strict-feedback dynamics under sampling

被引：22

作者：

Mattioni, Mattia ^{[1
]}

Monaco, Salvatore ^{[1
]}

Normand-Cyrot, Dorothee ^{[2
]}

机构：

[1] Univ Roma La Sapienza, Dipartimento Ingn Informat Automat & Gestionale A, Via Ariosto 25, I-00185 Rome, Italy

[2] CNRS Cent Supelec, Lab Signaux & Syst, 3 Rue Joliot Curie, F-91190 Gif Sur Yvette, France

来源：

AUTOMATICA | 2017年 / 76卷

关键词：

Asymptotic stabilization; Digital implementation; Sampled-data stabilization; Nonlinear systems; NONLINEAR-SYSTEMS; ADAPTIVE-CONTROL; REDESIGN; MODELS;

D O I：

10.1016/j.automatica.2016.10.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper deals with sampled-data stabilization of continuous-time dynamics in strict-feedback form via Immersion and Invariance. Starting from the characterization of the sampled-data target dynamics and its invariant manifold, a multi-rate control law is designed to achieve attractiveness and invariance of such a manifold. Simulations on an academic example and a practical case illustrate the performances. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：78 / 86

页数：9

共 21 条

[1] Immersion and invariance: A new tool for stabilization and adaptive control of nonlinear systems [J].