15th Triennial World Congress of the International Federation of Automatic Control
  Barcelona, 21–26 July 2002 
HOMOGENEOUS STABILIZATION OF THE EXTENDED CHAINED FORM SYSTEM
N.P.I. Aneke1 D.A. Lizárraga2 H. Nijmeijer3
Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven
University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands,
1 n.p.i. aneke@tue.nl, 2d. lizarraga@tue.nl, 3h.nijmeijer@tue.nl

A controller is presented for point stabilization of the extended chained form system. The extended chained form system can not be stabilized by means of continuous pure-state feedback. Moreover, it can not be exponentially stabilized by smooth feedback, since the linearization around equilibrium points is uncontrollable. In this paper, a controller is given that exponentially stabilizes the system with respect to a homogeneous norm. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated in a benchmark example by application to the VSTOL aircraft without gravity.
Keywords: Dynamics, Stability, Constraints, Nonlinear control
Session slot T-Tu-A08: Stabilization II/Area code 2c : Non-linear Systems