Partial curve stabilization of nonlinear systems
Published on:
8 November 2023
Primary Category:
Optimization and Control
Paper Authors:
Victoria Grushkovskaya,
Iryna Vasylieva,
Alexander Zuyev
Bullets
Key Details
Presents a novel approach to stabilize system behaviors along non-feasible curves, not just fixed points
Uses time-varying feedback control laws to achieve exponential stability
Satisfies relaxed controllability conditions based on Lie bracket spanning
Demonstrated for an underactuated autonomous underwater vehicle model
Advances control capabilities for robotic navigation in complex environments
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AI generated summary
Partial curve stabilization of nonlinear systems
This paper develops a method to stabilize nonlinear control systems along arbitrary curves, not just equilibrium points. Through time-varying feedback laws, the system's behavior can be attracted to and stabilized in the vicinity of a given non-feasible trajectory. This expands the framework of partial stability theory and has applications in robotics for more flexible maneuvering.
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