- Tytuł:
- Hybrid robust stabilization in the Martinet case
- Autorzy:
-
Prieur, C.
Trelat, E. - Powiązania:
- https://bibliotekanauki.pl/articles/969996.pdf
- Data publikacji:
- 2006
- Wydawca:
- Polska Akademia Nauk. Instytut Badań Systemowych PAN
- Tematy:
-
Martinet case
hybrid feedback
robust stabilization
measurement errors
actuator noise
external disturbances
optimal control
singular trajectory
sub-Riemannian geometry - Opis:
- 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.
- Źródło:
-
Control and Cybernetics; 2006, 35, 4; 923-945
0324-8569 - Pojawia się w:
- Control and Cybernetics
- Dostawca treści:
- Biblioteka Nauki
Artykuł