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 (PDE) or a system of globally asymptotically stable (GAS) ordinary differential equations (ODEs). Optimal and bounded control designs are also addressed. The flexibility of the proposed design is illustrated via five examples.
Issue Section:
Research Papers
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