Improving the performance of nonlinear stabilization of multiple integrators with bounded controls
Abstract
This paper deals with the global stabilization of integrators chain by means of a bounded feedback. Two nonlinear control laws made of summation of saturation of the state are proposed. The first one extends Sussmann et al. [94] and the second proposes variable level of the saturation to improve the performance. Both remains very simple and improve significantly the efficiency of the approach that is very competitive with respect to the other existing methods, especially for its performance/complexity ratio.
