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arXiv · 1303.5330

Stabilization of perturbed integrator chains using Lyapunov-Based Homogeneous Controllers

Mohamed Harmouche·Salah Laghrouche·Yacine Chitour
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Abstract

In this paper, we present a Lyapunov-based homogeneous controller for the stabilization of a perturbed chain of integrators of arbitrary order $r\geq 1$. The proposed controller is based on homogeneous controller for stabilization of pure integrator chains. The advantages to control the homogeneity degree of the controller are also discussed. A bounded-controller with minimum amplitude of discontinuous control and a controller with fixed-time convergence are synthesized, using control of homogeneity degree, and their performances are shown in simulations. It is demonstrated that the homogeneous arbitrary HOSM controller \cite{Levant2001} is a particular case of our controller.

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Mohamed Harmouche, Salah Laghrouche, Yacine Chitour. 2013-03-21. Stabilization of perturbed integrator chains using Lyapunov-Based Homogeneous Controllers. https://arxiv.org/abs/1303.5330

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