Showing papers by "N. Harris McClamroch published in 1997"

Hybrid control for global stabilization of nonlinear systems

Abstract: Stabilization of an equilibrium solution of nonlinear control systems has been extensively studied. Many elegant and important results are now available. Most of these results make use of smooth feedback to provide stabilization only within a local region containing the equilibrium. In this paper, we consider a class of nonlinear control systems, that includes nonholonomic control systems, and hence is known to present stabilization difficulties using smooth feedback. There are good theoretical and practical reasons for using hybrid feedback controllers to achieve closed loop stabilization for this class of systems. This paper presents a summary of one such hybrid feedback control approach, that guarantees global asymptotic stability. The development is a step towards a synthesis of classical nonlinear control methodology and intelligent control methodology.