On global uniform asymptotic stability of nonlinear time-varying systems in cascade

In this short paper we deal with the stability analysis problem of nonautonomous nonlinear systems in cascade. In particular, we give sufficient conditions to guarantee that (i) a globally uniformly stable (GUS) nonlinear time-varying (NLTV) system remains GUS when it is perturbed by the output of a globally uniformly asymptotically stable (GUAS) NLTV system, under the assumption that the perturbing signal is absolutely integrable; (ii) if in addition the perturbed system is GUAS, it remains GUAS under the cascaded interconnection; (iii) two GUAS systems yield a GUAS cascaded system, under some growth restrictions over the Lyapunov function. Our proofs rely on the second method of Lyapunov, roughly speaking on a “δ- stability analysis”.     

Uniform asymptotic stability in nonlinear volterra discrete systems

We employ the notion of total stability to obtain new criteria for uniform asymptotic stability of the zero solution of a nonlinear Volterra discrete system. Resolvent equation methods are employed, and a summability criterion on the resolvent kernel is obtained. Also, we obtain a new difference equation that the resolvent R(n, s) satisfies.     

Time-varying controller for known nonlinear dynamic systems with guaranteed stability

This paper presents a solution for the design of a time-varying parametric controller for general nonlinear dynamic systems. The controller can be of any prespecified smooth nonlinear state feedback type so long as it includes a set of time-varying parameters. A Lyapunov function is constructed and used to formulate an effective tuning rule for the involved time-varying parameters. With this selection of the tuning rule, it has been shown that the closed loop system is stable. Two examples are included to illustrate the use of the proposed methods and encouraging results have been obtained.     

A continuous asymptotic tracking control strategy for uncertain nonlinear systems

In this note, we present a new continuous control mechanism that compensates for uncertainty in a class of high-order, multiple-input-multiple-output nonlinear systems. The control strategy is based on limited assumptions on the structure of the system nonlinearities. A new Lyapunov-based stability argument is employed to prove semiglobal asymptotic tracking.     

具有未知函数非线性系统的全局渐近稳定控制

本文讨论了一类具有未知函数和未知控制方向非线性系统的全局渐近稳定问题.通过提出一个引理处理未知函数问题,从而得到了一种基于反步法和Nussbaum增益技术的全局渐近稳定控制算法.与逼近方法处理未知函数的算法相比,本文提出的算法解决了非线性系统的全局渐近稳定问题;与现存解决非线性系统的全局渐近稳定控制算法相比,本文避免了使用未知函数的假设条件,因此降低了保守性.值得一提的是本文的算法也解决了反步法的“微分爆炸”问题,因此所提出的控制方案不仅仅得到了全局渐近稳定控制方案,而且降低了计算的复杂性.最后,将该方案应用到刚性单链杆机械手系统中,仿真结果验证了其有效性.     

Necessary and sufficient conditions for uniform semiglobal practical asymptotic stability: Application to cascaded systems

It is well established that, for a cascade of two uniformly globally asymptotically stable (UGAS) systems, the origin remains UGAS provided that the solutions of the cascade are uniformly globally bounded. While this result has met considerable popularity in specific applications it remains restrictive since, in practice, it is often the case that the decoupled subsystems are only uniformly semiglobally practically asymptotically stable (USPAS). Recently, we established that the cascade of USPAS systems is USPAS under a local boundedness assumption and the hypothesis that one knows a Lyapunov function for the driven subsystem. The contribution of this paper is twofold: (1) we present a converse theorem for USPAS and (2) we establish USPAS of cascaded systems without the requirement of a Lyapunov function. Compared to other converse theorems in the literature, ours has the advantage of guaranteeing a specific relationship between the upper and lower bounds on the generated Lyapunov function V and of providing a time-invariant bound on the gradient of V, which is fundamental to establish theorems for cascades.     

Time-varying increasing-gain observers for nonlinear systems

A full-order state observer for a class of nonlinear continuous-time systems is presented as generalization of the high-gain observer for having a time-varying gain that is let to be small in the first time instants, increases over time up to its maximum, and then is kept constant. The global stability of the resulting estimation error is proved by means of a Lyapunov functional via a change of coordinate. The design of such an observer is obtained by solving a nonlinear programming problem and using series expansions to set the time-varying gain.     

The almost sure asymptotic stability and pth moment asymptotic stability of nonlinear stochastic delay differential systems with polynomial growth

In this paper, we discuss the asymptotic stability of nonlinear stochastic delay differential systems (SDDSs) whose coefficients obey the polynomial growth condition. By applying some novel techniques, we establish some easily verifiable conditions under which such SDDSs are almost surely asymptotically stable and pth moment asymptotically stable. A nontrivial example is provided to illustrate the effectiveness of our results. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Relaxed persistency of excitation for uniform asymptotic stability

The persistency of excitation property is crucial for the stability analysis of parameter identification algorithms and adaptive control loops. We propose a relaxed definition of persistency of excitation and we use it to establish uniform global asymptotic stability (UGAS) for a large class of nonlinear, time-varying systems. Our relaxed definition is conceptually equivalent to the definition introduced in Loria et al. (1999), but is easier to verify. It is useful for stability analysis of nonlinear systems that arise, for example, in nonlinear adaptive control, stabilization of nonholonomic systems, and tracking control. Our proof of UGAS relies on some integral characterizations of UGAS established in Teel et al. (2000). These characterizations also streamline the proof of UGAS in the presence of (uniform) classical persistency of excitation     

The asymptotic stability of nonlinear (Lur'e) systems with multipleslope restrictions

The authors present the analysis of the asymptotic stability of multiple slope-restricted nonlinear (Lur'e) systems. By providing a Lyapunov function, they obtain a matrix-language criterion in terms of algebraic Riccati equations and linear matrix inequalities, which are discussed at the point of computational issues. Additionally, they consider the frequency-domain interpretation of the result     

Neural network-based asymptotic tracking control of unknown nonlinear systems with continuous control command

ABSTRACT

This paper proposes a robust tracking controller for a class of nonlinear second-order systems with time-varying uncertainties. The controller is mainly based on the robust integral of the sign of the error (RISE) control approach to achieve an asymptotic stability result with a continuous control command in the presence of additive uncertainties. An adaptive feedforward neural network control term is blended with a new RISE controller to improve the system's transient performance. The proposed RISE controller is a modified version of the existing saturated RISE controller such that only sign of the derivative of the output is needed. The stability of the closed-loop system is well studied, where a local asymptotic stability is proven. The controller performance is validated through simulations on a two-degree-of-freedom lower limb robotic exoskeleton.     

On uniform asymptotic stability of time-varying parameterized discrete-time cascades

Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper, we develop novel tools that can be used within this framework and that are useful for tracking problems. In particular, results for stability analysis of parameterized time-varying discrete-time cascaded systems are given. This class of models arises naturally when one uses an approximate discrete-time model to design a stabilizing or tracking controller for a sampled-data plant. While some of our results parallel their continuous-time counterparts, the stability properties that are considered, the conditions that are imposed, and the the proof techniques that are used, are tailored for approximate discrete-time systems and are technically different from those in the continuous-time context. A result on constructing strict Lyapunov functions from nonstrict ones that is of independent interest, is also presented. We illustrate the utility of our results in the case study of the tracking control of a mobile robot. This application is fairly illustrative of the technical differences and obstacles encountered in the analysis of discrete-time parameterized systems.     

二维非线性临界解析动态系统的局部渐近稳定性

考察具有一对共轭纯虚数特征值的二维非线性临界解析动态系统的局部渐近稳定性. 首先在非奇异线性坐标变换和时间尺度变换下, 将其化成标准形式. 之后, 运用形式级数法的思想, 通过构造多组线性方程组,给出了确定该系统的李雅普诺夫函数的方法, 并得到了判别系统局部渐近稳定和不稳定的充分条件. 最后通过示例说明该判别条件的有效性.     

Block backstepping control of multi-input nonlinear systems with mismatched perturbations for asymptotic stability

Based on the Lyapunov stability theorem, a methodology of designing the block backstepping controller for a class of multi-input systems with matched and mismatched perturbations is proposed in this article. Some adaptive mechanisms are embedded both in the virtual input controller and in the backstepping controllers so that not only are the mismatched perturbations suppressed, but also part knowledge of the upper bound of perturbation is not required. Finally, an example of stabilising the control-moment-gyro devices is presented to demonstrate the feasibility of the proposed methodology.     

A necessary condition for local asymptotic stability of nonlinear systems with exogenous disturbance

Local asymptotic stability of nonlinear systems with real-parametric uncertainty or disturbance is one of the important problems in control systems literature. In this paper, we investigate this problem for nonlinear systems with time-varying disturbance. We assume that the disturbance vector is generated by an exosystem, which is neutrally stable. Thus, the disturbances that we consider include both constant and periodic signals. For this class of nonlinear systems with time-varying disturbance, we derive a necessary condition for local asymptotic stability of equilibria. As corollaries of our general result, we deduce the necessary condition obtained by Byrnes and Sundarapandian [1] for nonlinear systems with constant real parametric uncertainty, and the necessary condition obtained by Brockett [2] for nonlinear autonomous systems. We illustrate our result with several examples.     

A necessary condition for local asymptotic stability of discrete-time nonlinear systems with exogenous disturbance

Local asymptotic stability of nonlinear systems with real-parametric uncertainty or disturbance is one of the important problems in the control systems literature. In this paper, we investigate the problem of asymptotic stability for discrete-time nonlinear systems with time-varying disturbance. We assume that the disturbance vector is generated by an exosystem, which is neutrally stable. Thus, the disturbances that we consider include both constant and periodic signals. For this class of nonlinear systems with time-varying disturbance, we derive a necessary condition for local asymptotic stability of equilibria. As corollaries of our general result, we deduce the necessary condition obtained by Sundarapandian [1] for discrete-time nonlinear systems with constant real parametric uncertainty, and the necessary condition obtained by Lin and Byrnes [2] for discrete-time nonlinear autonomous systems. We illustrate our result with several examples.     

Global asymptotic stability of a nonlinear parabolic equation

Necessary and sufficient conditions are derived for the asymptotic stability of a nonlinear parabolic equation. Spatial Fourier transformation converts the stability determination to that for an infinite system of ordinary differential equations, and facilitates approximate to exact solutions, depending on the boundary conditions, the nonlinearities, and the harmonic content of the steady-state disturbances.     

Data-driven asymptotic stabilization for discrete-time nonlinear systems

In this paper, we propose a data-driven feedback controller design method based on Lyapunov approach, which can guarantee the asymptotic stability of the closed-loop and enlarge the estimate of domain of attraction (DOA) for the closed-loop. First, sufficient conditions for a feedback controller asymptotically stabilizing the discrete-time nonlinear plant are proposed. That is, if a feedback controller belongs to an open set consisting of pairs of control input and state, whose elements can make the difference of a control Lyapunov function (CLF) to be negative-definite, then the controller asymptotically stabilizes the plant. Then, for a given CLF candidate, an algorithm, to estimate the open set only using data, is proposed. With the estimate, it is checked whether the candidate is or is not a CLF. If it is, a feedback controller is designed just using data, which satisfies sufficient conditions mentioned above. Finally, the estimate of DOA for closed-loop is enlarged by finding an appropriate CLF from a CLF candidate set based on data. Because the controller is designed directly from data, complexity in building the model and modeling error are avoided.     

Sufficient and necessary conditions for discrete-time nonlinear switched systems with uniform local exponential stability

In this paper, we investigate sufficient and necessary conditions of uniform local exponential stability (ULES) for the discrete-time nonlinear switched system (DTNSS). We start with the definition of T-step common Lyapunov functions (CLFs), which is a relaxation of traditional CLFs. Then, for a time-varying DTNSS, by constructing such a T-step CLF, a necessary and sufficient condition for its ULES is provided. Afterwards, we strengthen it based on a T-step Lipschitz continuous CLF. Especially, when the system is time-invariant, by the smooth approximation theorem, the Lipschitz continuity condition of T-step CLFs can further be replaced by continuous differentiability; and when the system is time-invariant and homogeneous, due to the extension of Weierstrass approximation theorem, T-step continuously differentiable CLFs can even be strengthened to be T-step polynomial CLFs. Furthermore, three illustrative examples are additionally used to explain our main contribution. In the end, an equivalence between time-varying DTNSSs and their corresponding linearisations is discussed.