Forwarding Control Design for Strict-Feedforward Systems

[+] Author and Article Information
Duc K Do

Department of Mechanical Engineering, Curtin University, Kent Street, Bentley, WA 6102, Australia

1Corresponding author.

ASME doi:10.1115/1.4042881 History: Received June 23, 2018; Revised January 30, 2019


This paper presents a new recursive forwarding method to design control laws that globally asymptotically stabilize strict-feedforward systems, of which Jacobian linearization at the origin might not be stabilizable. At each step, a Lyapunov function is constructed based on a solution of a linear partial differential equation or a system of globally asymptotically stable ordinary differential equations. Optimal and bounded control designs are also addressed. The flexibility of the proposed design is illustrated via five examples.

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