Global stabilization of multiple integrators with bounded controls

Authors:
Nicolas Marchand;Ahmad Hably
Affiliations:
Laboratoire d'Automatique de Grenoble, UMR CNRS 5528-INPG-UJF, ENSIEG BP 46, 38402 Saint Martin d'Hères Cedex, France;Laboratoire d'Automatique de Grenoble, UMR CNRS 5528-INPG-UJF, ENSIEG BP 46, 38402 Saint Martin d'Hères Cedex, France
Venue:
Automatica (Journal of IFAC)
Year:
2005

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Abstract

This paper deals with the global stabilization of a chain of integrators by means of bounded feedback. Two nonlinear control laws made of summation of saturation of the state are proposed. The first one extends that of Sussmann, Sontag and Yang [(1994). IEEE Transactions on Automatic Control, 39(12), 2411-2425] and the second proposes variable saturation level to improve the performance. Both remain very simple and significantly improve the efficiency of the approach, which is very competitive with respect to the other existing methods, especially for its performance/complexity ratio. The robustness with respect to measurement delay and model uncertainty is numerically tested.