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research-article

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
duc@curtin.edu.au

1Corresponding author.

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

Abstract

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.

Copyright (c) 2019 by ASME
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