@conference {FCB-CDC09, title = {Constructive robustness analysis of a limited-information feedback approach for nonlinear systems}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, month = {December, 16 - 1}, address = {Shangai, China}, abstract = {

We analyze the robustness properties of a recently introduced strategy for stabilization with limited information. We show that if the nominal closed-loop system can be made Input-to-State Stable (ISS) with respect to measurement errors, parameter uncertainty and exogenous disturbances then this robustness is preserved when only limited information is available on the plant. More precisely, if a sufficiently bandwidth is available on the communication network, then the resulting closed-loop is semiglobally practically ISS.

}, keywords = {Embedded Control, Robotics}, author = {A. Franci and A. Chaillet} } @conference {TSCHPAJOcdc06, title = {Cascaded lemma for set-stable systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

A previous result about uniform global asymptotic stability (UGAS) of the equilibrium of a cascaded time-varying systems, is here also shown to hold for closed (not necessarily compact) sets composed by set-stable subsystems of a cascade. In view of this result an optimal control allocation approach is discussed.

}, keywords = {Robotics}, author = {J. Tsonnas and A. Chaillet and E. Panteley and T. A. Johansen} } @conference {CHLOcdc06, title = {A converse Lyapunov theorem for semiglobal practical asymptotic stability and application to cascades-based control}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We present a converse Lyapunov result for nonlinear time-varying systems that are uniformly semiglobally asymptotically stable. This stability property pertains to the case when the size of initial conditions may be arbitrarily enlarged and the solutions of the system converge, in a stable way, to a closed ball that may be arbitrarily diminished by tuning a design parameter of the system (typically but not exclusively, a control gain). This result is notably useful in cascaded-based control when uniform practical asymptotic stability is established without a Lyapunov function, , {\i}t e.g.} via averaging. We provide a concrete example by solving the stabilization problem of a hovercraft.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} }