Union d'une commande par backstepping avec une commande locale
Humberto Stein Shiromoto, Vincent Andrieu, Christophe Prieur

TL;DR
This paper introduces a hybrid control strategy combining backstepping and local stabilization to achieve global asymptotic stability for systems where backstepping alone is insufficient, demonstrated through simulations.
Contribution
It proposes a new criterion for designing hybrid feedback laws that blend local and backstepping controllers for broader system stability.
Findings
Hybrid feedback law ensures global stability
Criterion based on basin of attraction size
Validated through simulation results
Abstract
Systems for which the backstepping technique cannot be applied are considered. A criterion for the design of a hybrid feedback law is proposed by blending a local stabilizer with a backstepping controller. This hybrid feedback law renders the origin globally asymptotically stable for the closed-loop system. The selection criterion is based on choice of the size of a compact set included in the basin of attraction of the local controller. The results are illustrated by simulations.
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Taxonomy
TopicsAdaptive Control of Nonlinear Systems · Stability and Control of Uncertain Systems · Control and Dynamics of Mobile Robots
