On semi-global stabilization of minimum phase nonlinear systems without vector relative degrees |
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Authors: | XinMin Liu ZongLi Lin |
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Affiliation: | Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, P.O. Box 400473, Charlottesville, VA 22904-4743, USA |
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Abstract: | Recently, we developed a structural decomposition for multiple input multiple output nonlinear systems that are affine in
control but otherwise general. This structural decomposition simplifies the conventional backstepping design and allows a
new backstepping design procedure that is able to stabilize some systems on which the conventional backstepping is not applicable.
In this paper we further exploit the properties of such a decomposition for the purpose of solving the semi-global stabilization
problem for minimum phase nonlinear systems without vector relative degrees. By taking advantage of special structure of the
decomposed system, we first apply the low gain design to the part of system that possesses a linear dynamics. The low gain
design results in an augmented zero dynamics that is locally stable at the origin with a domain of attraction that can be
made arbitrarily large by lowering the gain. With this augmented zero dynamics, backstepping design is then applied to achieve
semi-global stabilization of the overall system. |
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Keywords: | nonlinear systems structural decomposition semi-global stabilization low gain feedback |
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