On L_p input to state stabilizability of affine in control, nonlinear systems subject to actuator saturation
On \(L p\) input to state stabilizability of affine in control, nonlinear systems subject to actuator saturation
The authors investigate the question whether a single input affine control system \(\dot{x} = f(x)+g(x)\sigma(u)\) subject to actuator saturation can be rendered input-to-state stable with respect to actuator errors using a static state feedback law \(u(x)\). (The definition of input-to-state stability used here differs from the usual notions [see e.g. \textit{E. D. Sontag}, ``The ISS philosophy as a unifying framework for stability-like behavior, in: A. Isidori (ed.) et al., Nonlinear control in the year 2000. Vol. 2, Lect. Notes Control Inf. Sci. 259, 443-467 (2001; Zbl 0989.93083)] because arbitrary \(L_p\) spaces for input and state are allowed and either no or only linear gains are used.) NEWLINENEWLINENEWLINEThe authors give several sufficient conditions based on suitable control Lyapunov functions \(V\) under which the desired property can be shown and feedback laws can be obtained from explicit formulas involving the derivatives \(L_gV\). Several examples and simulation results illustrate the performance of these feedback laws.
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