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Input-to-state stability for discrete-time nonlinear systems
Abstract In this paper the input-to-state stability (ISS) property is studied for discrete-time nonlinear systems. We show that many ISS results for continuons-time nonlinear systems in earlierExpand
Small-gain theorem for ISS systems and applications
This work addresses the problem of global asymptotic stabilization via partial-state feedback for linear systems with nonlinear, stable dynamic perturbations and for systems which have a particular disturbed recurrent structure. Expand
Input-to-state stability for discrete-time nonlinear systems
The input-to-state stability property and iss small-gain theorems are introduced as the cornerstone of new stability criteria for discrete-time nonlinear systems.
Design of Robust Adaptive Controllers for Nonlinear Systems with Dynamic Uncertainties
In this paper, a modified adaptive backstepping design procedure is proposed for a class of nonlinear systems with three types of uncertainty: (i)unknown parameters; (ii)uncertain nonlinearities andExpand
Computational adaptive optimal control for continuous-time linear systems with completely unknown dynamics
This paper presents a novel policy iteration approach for finding online adaptive optimal controllers for continuous-time linear systems with completely unknown system dynamics. The proposed approachExpand
A Lyapunov formulation of the nonlinear small-gain theorem for interconnected ISS systems
A Lyapunov statement and proof of the recent nonlinear small-gain theorem for interconnected input/state-stable (ISS) systems is provided. Expand
Tracking Control of Mobile Robots: A Case Study in Backstepping
A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobileExpand
A converse Lyapunov theorem for discrete-time systems with disturbances
It is shown that a smooth Lyapunov function exists for a family of time-varying discrete systems if these systems are robustly globally asymptotically stable. Expand
Linear output feedback with dynamic high gain for nonlinear systems
It is shown that a linear observer-based output feedback can globally regulate an equilibrium of strongly nonlinear systems, provided that a single high gain is appropriately tuned. Expand
Event-based consensus of multi-agent systems with general linear models
The advantage of the event-based strategy is the significant decrease of the number of controller updates for cooperative tasks of multi-agent systems involving embedded microprocessors with limited on-board resources. Expand