A general stability criterion for time-varying systems using a modified detectability condition

Author

Lee, Ti-Chung ; Chen, Bor-Sen

Author_Institution

Dept. of Electr. Eng., Ming Inst. of Technol., Hsinchu, Taiwan

Volume

47

Issue

5

fYear

2002

fDate

5/1/2002 12:00:00 AM

Firstpage

797

Lastpage

802

Abstract

Uniform asymptotic stability for general nonlinear time-varying systems is investigated from the output-to-state viewpoint. A unified criterion is proposed using a modified detectability condition and certain integral inequalities. The criterion extends the Krasovskii-LaSalle theorem to nonperiodic time-varying systems. An example taken from the tracking control of mobile robots is given to illustrate that, much as the invariance principle of LaSalle is used in studying the stability of time-invariant systems, our results can be used to study the stability of nonperiodic time-varying systems by checking the modified detectability condition

Keywords

asymptotic stability; mobile robots; nonlinear control systems; time-varying systems; Krasovskii-LaSalle theorem; general nonlinear time-varying systems; general stability criterion; integral inequalities; mobile robots; modified detectability condition; nonperiodic time-varying systems; output-to-state viewpoint; time-varying systems; tracking control; unified criterion; uniform asymptotic stability; Asymptotic stability; Control systems; Convergence; Councils; Mobile robots; Robot control; Robust stability; Stability analysis; Stability criteria; Time varying systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2002.1000276

Filename

1000276