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Global stabilization of a chain of two integrators by a feedback in the form of nested sigmoids
- Authors: Morozov Y.V.1, Pesterev A.V.1
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Affiliations:
- V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences
- Issue: No 3 (2024)
- Pages: 5-10
- Section: ТЕОРИЯ СИСТЕМ И ОБЩАЯ ТЕОРИЯ УПРАВЛЕНИЯ
- URL: https://journal-vniispk.ru/0002-3388/article/view/272647
- DOI: https://doi.org/10.31857/S0002338824030016
- EDN: https://elibrary.ru/URCEUP
- ID: 272647
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Abstract
The problem of stabilizing a chain of two integrators by a feedback in the form of nested sigmoids is considered. Such a feedback allows one to easily take into account boundedness of the control resource and ensure the fulfillment of desired characteristics of the transient process, such as a given exponential rate of the deviation decrease near the equilibrium state and the constraint on the maximum velocity. Global stability of the closed-loop system is proved by constructing its Lyapunov function.
About the authors
Yu. V. Morozov
V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences
Author for correspondence.
Email: tot1983@inbox.ru
Russian Federation, Moscow
A. V. Pesterev
V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences
Email: alexanderpesterev.ap@gmail.com
Russian Federation, Moscow
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