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A Control Lyapunov Function Approach to Stabilization of Affine Nonlinear Systems with Bounded Uncertain Parameters |
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| Authors: | Wei?Zhang |
| Institution: | 1.Laboratory of Intelligent Control and Robotics,Shanghai University of Engineering Science,Shanghai,China;2.School of Automation, Image Processing and Intelligent Control, Key Laboratory of Education Ministry of China,Huazhong University of Science and Technology,Wuhan,China;3.College of Mathematics, Physics, and Information Engineering,Zhejiang Normal University,Jinhua,China;4.College of Automotive Engineering,Shanghai University of Engineering Science,Shanghai,China |
| Abstract: | This paper considers the robust stabilization problem of a class of affine nonlinear systems with bounded uncertain time-invariant parameters. A robust control Lyapunov function (RCLF) is introduced for the considered system. Based on the RCLF, a globally asymptotically stabilizing controller is then designed. The proposed controller is robust under the variant of system parameters. As the applications of the proposed scheme, the stabilization of uncertain feedback linearizable systems and the unified chaotic system are investigated, respectively. A numerical example on the unified chaotic system is also provided to illustrate the effectiveness of the presented method. |
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