Control of uncertain systems under bounded chattering (Q1384914)

The dynamical system \[ \dot x = f(x,u,d), \qquad u(t) \in U(x(t)), \quad d\in D \] with \(u\) being a control and \(d\) being a disturbance is considered. The control functions \(u(t)\) are assumed to be with bounded chattering which means that the time derivatives of \(u(t)\) are bounded: \(\| \dot u (t) \| \leq \rho\). The main goal is to find the Lyapunov stability domain for the system. The authors extend the state space by adding a new state variable \(u\) and a new differential equation \(\dot u = w\) with \(w\) as a control (\(\| w\| \leq \rho\)). The new system is treated as a differential game with a state (or viability) constraint due to the Lyapunov stabilization criterion. The analogies of the viability kernel from the theory of differential inclusions are used to construct the domain of uniformly exponential stability for the system under consideration. Some numerical examples are also given.