Union d'une commande par backstepping avec une commande locale

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.