Stabilization of a class of uncertain nonlinear affine systems subject to control constraints

• Published in: International journal of robust and nonlinear control Vol. 11; no. 9; pp. 797 - 818
• Main Authors: Goodall, D. P., Wang, J.
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Ltd 30.07.2001
• Subjects: asymptotic and practical stabilization; controlled differential inclusions; non-linear uncertain systems; robust bounded controls
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.574

Practical and asymptotic stabilization is investigated for a class of uncertain nonlinear affine control systems subject to constraints on the control inputs. The uncertain systems are modelled as non‐linear perturbations to a known non‐linear idealized system and a problem formulation based on differential inclusions is adopted. A class of constrained generalized state‐feedback controls (containing both continuous and discontinuous selections) is developed, which guarantees stabilization with a specified region of attraction. In the presence of residual uncertainty, sufficient conditions for global stabilizability are presented, whilst local results are obtained by relaxing these conditions. Copyright © 2001 John Wiley & Sons, Ltd.