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Zbl 1012.93053
Qian, Chunjiang; Lin, Wei
A continuous feedback approach to global strong stabilization of nonlinear systems. (English)
[J] IEEE Trans. Autom. Control 46, No.7, 1061-1079 (2001). ISSN 0018-9286

The paper addresses the problem of the global stabilization by means of continuous feedback of a class of nonlinear (possibly non-affine and nonsmooth) systems which in general cannot be stabilized by smooth (i.e., at least $C^1$) feedback. The basic result concerns systems which can be represented as a chain of power integrators perturbed by a vector field in triangular form $$\align \dot x_1 &= d_1(t) x^{p_1}_2+ f_1(t, x_1,x_2)\\ &\vdots\\ \dot x_i &= d_i(t) x^{p_i}_{i+1}+ f_i(t, x_1,\dots, x_{i+1})\\ &\vdots\\ \dot x_n &= d_n(t) u^{p_n}+ f_n(t, x_1,\dots, x_n,u)\endalign$$ where the $p_i$'s are odd, the $d_i(t)$ are unknown but constrained to a bounded interval, and $$f_i(t, x_1,\dots, x_{i+1})= \sum^{p_i-1}_{j=0} x^j_{i+1} a_{ij}(t, x_1,\dots, x_i)$$ ($x_{n+1}$ stands for $u$). The functions $a_{ij}$ are subject to some other technical assumptions. The proof is based on an iterative procedure and exploits the theory of homogeneous systems. It uses the method of adding a power integrator in order to explicitly construct a continuous feedback and generate a $C^1$ Lyapunov function. The paper contains also some extensions of the basic result and a rich variety of interesting examples.
[A.Bacciotti (Torino)]

MSC 2000:: *93D15 Stabilization of systems by feedback
93D30 Scalar and vector Lyapunov functions
93C10 Nonlinear control systems

Keywords: triangular form perturbation; nonlinear systems; global stabilization; continuous feedback; chain of power integrators; homogeneous systems; $C^1$ Lyapunov function

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