Asymptotic stability for tracking control of nonlinear uncertain dynamical systems described by differential inclusions. (Q5946953)

The tracking problem for a special class of dynamical systems governed by differential inclusions and controlled using two feedback control inputs is studied. The multivalued nature of the model is result of modeling uncertainty in the system using convex, compact-valued multifunctions. Sufficient conditions are assumed to ensure that the classical Carathéodory concept of solution of the differential inclusion, based on two distinct sets of state variables \(x(t)\) and \(y(t)\), is adequate. The goal of the analysis is to find sufficient conditions for exponential asymptotic stability: find controls \(u_{1}=u_{1}(x,y)\) and \(u_{2}=u_{2}(x,y)\) such that for any initial state \((x_{0},y_{0})\in \text{Graph} (H)\), all solutions \((x(\cdot),y(\cdot))\) of the differential inclusion satisfying \(y(t)=H(x(t))\) for all \(t\geq 0\) (where \(H\) is Lipschitz observation mapping) and \(\| J(x(t))\| \leq \alpha_{0} \exp (-\beta_{0} \cdot t) \to 0\) as \(t \to \infty\), for some constants \(\alpha_{0}\), \(\beta_{0}\) and \(J\) a single-valued, continuously differentiable, Lipschitz function. Furthermore when \((x_{0}, y_{0}) \not\in \text{Graph}(H)\) a \(T>0\) is sought such that the systems enjoys the exponential asymptotic stability condition after the finite time \(T\). Moreover, an estimate of the tracking time \(T\) of all trajectories \(y(t)\) attaining the observation map \(H(x(t))\) is obtained.