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This study investigates the stabilisation problem for a class of inherently non-linear systems which are output-constrained. To solve such a control problem, a modified adding a power integrator approach is proposed. It is derived by combining standard adding a power integrator approach and a new barrier Lyapunov function together. The closed-loop system is asymptotically stable under the proposed...
Finite-time control of input-delay system with nonlinear saturating actuator is considered by virtue of time domain approach in this paper. State feedback controller is designed to make the closed-loop systems finite-time stable. Sufficient condition which guarantees finite-time stability of input-delay system with saturating actuator is given in terms of comparison function method. By virtue of our...
This paper considers the problem of global decentralized stabilization for a class of large-scale feedforward nonlinear systems. First, by using generalized homogeneous systems theory, a local linear decentralized control law is recursively constructed. Second, a series of nested saturation functions are integrated with the proposed local linear control law to render the whole closed-loop large-scale...
This paper considers the problem of using a sampled-data controller to globally stabilize a class of feedforward nonlinear systems. Based on the continuous-time controller proposed in [3], a nested saturation sampled-data control law is first designed to drive states of the feedforward system into a small region around the origin in a finite time. Inside this small region, the nested saturation sampled-data...
Conventional controllers for the nonholonomic systems all stabilize the closed loop system to a target point. In this paper, considering the nonholonomic chained form system, a control design approach based on set stabilization idea is proposed. The proposed control laws can asymptotically stabilize the closed loop system to a set of given target points. First, for the first-order subsystem, a state...
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