Automatica, Vol.80, 210-217, 2017
Global robust stabilization of nonlinear cascaded systems with integral ISS dynamic uncertainties
The authors consider a global robust asymptotic stabilization problem (GRS) for cascaded systems having dynamic uncertainties that are not necessarily input-to-state stable (ISS). Specifically, a recursive Lyapunov design approach is developed by induction on the system relative degree, providing a smoothly globally stabilizing controller. It is applicable to nonlinear cascaded systems having multiple distinct iISS dynamic uncertainties. The proposed design is constructive and leads to an iISS-Lyapunov characterization in a superposition form for the closed-loop system. (C) 2017 Elsevier Ltd. All rights reserved.
Keywords:Nonlinear systems;Feedback stabilization;Robust control;Lyapunov methods;Recursive control algorithms