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1 LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse 2 LM-Orsay - Laboratoire de Mathématiques d-Orsay

Abstract : The problem of semi-global minimal time robust stabilization of the Brockett integrator also called Heisenberg system is addressed and solved by means of a hybrid state feedback law. It is shown that the solutions of the closed-loop system converge to the origin, in quasi-minimal time for a given bound on the controller, with a robustness property with respect to small measurement noises, external disturbances and actuator noises.

Keywords : Brockett integrator optimal control hybrid feedback robust stabilization measurement errors actuator noise external disturbances





Author: Christophe Prieur - Emmanuel Trélat -

Source: https://hal.archives-ouvertes.fr/



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