Nonlinear feedback control with global stabilization

Abstract

Hamilton-Jacobi-Bellman theory is shown to provide a unified framework for nonlinear feedback control laws for special classes of nonlinear systems. These classes include Jurdjevic-Quinn type systems, as well as minimum phase systems with relative degree {1, 1, ..., 1}. Several examples are given to illustrate these results. For the controlled Lorenz equation, results obtained by Vincent and Yu are extended. Next, for spacecraft angular velocity stabilization with two torque inputs, a family of nonlinear feedback control laws that globally asymptotically stabilize angular velocity is established. Special cases of this family of control laws include generalizations of the locally stabilizing control laws of Brockett and Aeyels to global stabilization as well as the globally stabilizing control laws of Irving and Crouch and Byrnes and Isidori. Finally, the results are applied to spacecraft angular velocity stabilization with only one torque input. These last results extend control laws given by Outbib and Sallet.