Robustness under saturated feedback: Strong iISS for a class of nonlinear systems

Rémi Azouit (1) , Antoine Chaillet (1) , Luca Greco (1)

1 L2S - Laboratoire des signaux et systèmes

This note proposes sufficient conditions under which a nonlinear system can be made Strongly iISS in the presence of actuator saturation. This property, recently proposed as a compromise between the strength of ISS and the generality of iISS, ensures boundedness of all solutions provided that the disturbance magnitude is below a certain threshold. We also show that, under a growth rate condition, the bounded feedback law proposed by Lin and Sontag for the stabilization of the disturbance-free system based on the knowledge of a control Lyapunov function, ensures Strong iISS in the presence of perturbations. We illustrate our findings on the angular velocity control of a spacecraft with limited-power thrusters.

Domaines: Automatique / Robotique

Rémi Azouit, Antoine Chaillet, Luca Greco. Robustness under saturated feedback: Strong iISS for a class of nonlinear systems. ECC 2014 - European Control Conference, Jun 2014, Strasbourg, France. pp.1-8, ⟨10.1109/ecc.2014.6862421⟩. ⟨hal-00981115⟩