Global stabilization for systems evolving on manifolds

Authors:
M. Malisoff;M. Krichman;E. Sontag
Affiliations:
Department of Mathematics, Louisiana State University, Baton Rouge, LA;ALPHATECH, Inc., Burlington, MA;Department of Mathematics, Rutgers University, New Brunswick, NJ
Venue:
Journal of Dynamical and Control Systems
Year:
2006

Citing 6
Cited 1

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Global Asymptotic Controllability Implies Input-to-State Stabilization

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Abstract

We show that any globally asymptotically controllable system on any smooth manifold can be globally stabilized by a state feedback. Since we allow discontinuous feedbacks, we interpret the solutions of our systems in the "sample and hold" sense introduced by Clarke, Ledyaev, Sontag, and Subbotin (CLSS). We generalize their theorem which is the special case of our result for systems on Euclidean space. We apply our result to the input-to-state stabilization of systems on manifolds with respect to actuator errors, under small observation noise.