Design of time-varying input-to-state stability tracking control Lyapunov functions for disturbance attenuation

Abstract

In this study, we address limitations of the existing methods of disturbance attenuation for nonlinear control systems. We focus on scenarios with trajectory tracking in differentially flat systems. In this context, we propose a framework of a time-varying input-to-state stability tracking control Lyapunov function (time-varying ISS-TCLF) and prove that a Sontag-type time-varying ISS-CLF based controller compensates for a predefined ISS-gain performance. As an example, we design a time-varying ISS-TCLF for trajectory tracking control of a vessel. The effectiveness of our proposed method is confirmed by computer simulation.

Keywords

• input-to-state stability
• disturbance rejection
• trajectory tracking
• iss lyapunov function
• time-varying systems
• uncertain systems
• robust control