Global stabilization of multiple integrators by a bounded feedback with constraints on its successive derivatives

Abstract : In this paper, we address the global stabilization of chains of integrators by means of a bounded static feedback law whose p first time derivatives are bounded. Our construction is based on the technique of nested saturations introduced by Teel. We show that the control amplitude and the maximum value of its p first derivatives can be imposed below any prescribed values. Our results are illustrated by the stabilization of the third order integrator on the feedback and its first two derivatives.
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Submitted on : Friday, March 20, 2015 - 2:55:49 PM
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Jonathan Laporte, Antoine Chaillet, Yacine Chitour. Global stabilization of multiple integrators by a bounded feedback with constraints on its successive derivatives. 2015. ⟨hal-01133844⟩

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