Union d'une commande par backstepping avec une commande locale

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.

in French, in Proceedings of the 7e Conférence Internationale Francophone d'Automatique (CIFA'12), Grenoble, France, 2012