Bounded Backstepping Control and Robustness Analysis for Time-Varying Systems under Converging- Input-Converging-State Conditions *

Abstract : We provide new bounded backstepping results that ensure global asymptotic stability for a large class of partially linear systems with an arbitrarily large number of integrators. We use a dynamic extension that contains one artificial delay, and a converging-input-converging-state assumption. When the nonli-near subsystem is control affine, we provide sufficient conditions for our converging-input-converging-state assumption to hold. We also show input-to-state stability with respect to a large class of model uncertainties , and robustness to delays in the measurements of the state of the nonlinear subsystem. We illustrate our result using an example that is beyond the scope of classical backstepping.
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European Journal of Control, Lavoisier, 2018, 42, pp.15-24. 〈10.1016/j.ejcon.2018.02.005〉
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Dernière modification le : jeudi 15 novembre 2018 - 08:32:25
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Frédéric Mazenc, Michael Malisoff, Laurent Burlion, Jerome Weston. Bounded Backstepping Control and Robustness Analysis for Time-Varying Systems under Converging- Input-Converging-State Conditions *. European Journal of Control, Lavoisier, 2018, 42, pp.15-24. 〈10.1016/j.ejcon.2018.02.005〉. 〈hal-01848927〉

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