Feedback stabilization of strongly non-linear systems using the CBH formula

Abstract

This paper presents an approach to the construction of stabilizing feedback for strongly non-linear systems. The class of systems of interest includes systems with drift which are affine in the controls and which cannot be stabilized by continuous state feedback. The approach is independent of the selection of a Lyapunov function, but requires the on-line solution of a non-linear programming satisficing problem stated in terms of expressions resulting from the composition of flows via the Campbell–Baker–Hausdorff formula.

Acknowledgement

This work was supported by NSERC of Canada under grant OGP-0138352.

Notes

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