Abstract
We discuss several issues related to the stabilizability of nonlinear systems. For a given continuously stabilizable system, we review some constructions of feedbacks that render the system input-to-state stable with respect to actuator errors. We also announce a new feedback design that makes globally asymptotically controllable systems input-to-state stable to actuator errors and small observation noise. We illustrate our constructions using the nonholonomic integrator, and we discuss a related feedback design for systems with disturbances.
Sponsors: Louisiana Board of Regents Contract LEQSF(2002-04)-ENH-TR-26 (Malisoff); USAF Grant F49620-01-1-0063, NSF Grant CCR-0206789 (Sontag)
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Malisoff, M., Sontag, E. Asymptotic Controllability and Input-to-State Stabilization: The Effect of Actuator Errors. In: de Queiroz, M.S., Malisoff, M., Wolenski, P. (eds) Optimal Control, Stabilization and Nonsmooth Analysis. Lecture Notes in Control and Information Science, vol 301. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-39983-4_10
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DOI: https://doi.org/10.1007/978-3-540-39983-4_10
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-21330-7
Online ISBN: 978-3-540-39983-4
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