Global stabilization of a chain of two integrators by a feedback in the form of nested sigmoids

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The problem of stabilizing a chain of two integrators by a feedback in the form of nested sigmoids is considered. Such a feedback allows one to easily take into account boundedness of the control resource and ensure the fulfillment of desired characteristics of the transient process, such as a given exponential rate of the deviation decrease near the equilibrium state and the constraint on the maximum velocity. Global stability of the closed-loop system is proved by constructing its Lyapunov function.

Sobre autores

Yu. Morozov

V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences

Autor responsável pela correspondência
Email: tot1983@inbox.ru
Rússia, Moscow

A. Pesterev

V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences

Email: alexanderpesterev.ap@gmail.com
Rússia, Moscow

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