Robust semiglobally practical stabilization for nonlinear singularly perturbed systems
Singular perturbations for ordinary differential equations (34E15) Control problems involving ordinary differential equations (34H05) Feedback control (93B52) Nonlinear systems in control theory (93C10) Time-scale analysis and singular perturbations in control/observation systems (93C70) Adaptive or robust stabilization (93D21)
The paper is devoted to the construction of a state feedback control which provides robust semi-global, practical stabilization for a MIMO nonlinear singularly perturbed system with uncertain variables of the form \[ \dot x= f_1(x,\theta)+ Q_1(x,\theta)z+ g_1(x,\theta)u, \] \[ \varepsilon\dot z= f_2(x,\theta)+ Q_2(x,\theta)z+ g_2(x,\theta) u, \] where \(x\) is the slow variable, \(z\) the fast variable, \(\theta\) the time-varying uncertain variable (\(\theta\) takes value in a compact set \(\Theta\)). The authors assume that \(Q_2\) is invertible, that the fast subsystem can be stabilized by a linear feedback \(u= k^t(x)z\) for each \((x,\theta)\), that the slow subsystem has a relative degree and that it has an asymptotically stable zero-dynamics. The construction of the feedback depends on two quadratic Lyapunov functions (with coefficients dependent on \((x,\theta)\).
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