Matrosov's theorem using a family of auxiliary functions: an analysis tool to aid time-varying nonlinear control design
Optimization and Control
2007-05-23 v1
Abstract
We present a new result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle invariance principle to the case of general nonlinear time-varying systems. We show the utility of our theorem by addressing a control problem of port interconnected driftless systems. The latter includes as special case, the control of chained-form nonholonomic systems which has been extensively studied in the literature.
Keywords
Cite
@article{arxiv.math/0304255,
title = {Matrosov's theorem using a family of auxiliary functions: an analysis tool to aid time-varying nonlinear control design},
author = {Andrew R. Teel and Antonio Loria and Elena Panteley and Dobrivoje Popovic},
journal= {arXiv preprint arXiv:math/0304255},
year = {2007}
}