Input-to-state stabilizing controller for nonlinear systems on manifolds

In this paper, we propose an input-to-state stabilizing controller for nonlinear systems on differentiable manifolds based on input-to-state locally semiconcave practical control Lyapunov functions (ISS-LS-PCLFs). We show that the proposed controller input-to-state stabilize the desired equilibrium in the sense of sample and hold solution. The effectiveness of the proposed controller is confirmed by a numerical example.