Robustness under saturated feedback: Strong iISS for a class of nonlinear systems
Résumé
This note proposes sufficient conditions under which a nonlinear system can be made Strongly iISS in the presence of actuator saturation. This property, recently proposed as a compromise between the strength of ISS and the generality of iISS, ensures boundedness of all solutions provided that the disturbance magnitude is below a certain threshold. We also show that, under a growth rate condition, the bounded feedback law proposed by Lin and Sontag for the stabilization of the disturbance-free system based on the knowledge of a control Lyapunov function, ensures Strong iISS in the presence of perturbations. We illustrate our findings on the angular velocity control of a spacecraft with limited-power thrusters.
Domaines
Automatique / Robotique
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140420_-_Strong_iISS_avec_Remi_-_pbshed_HAL.pdf (125.93 Ko)
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