A theorem for UGAS and ULES of (passive) nonautonomous systems: robust control of mechanical systems and ships

Abstract

SUMMARYThe main contribution of this paper is a theorem to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES) for a class of nonlinear non-autonomous systems which includes passive systems. These properties (and a uniform local Lipschitz condition) guarantee robustness of stability while weaker properties, like uniform global stability plus global convergence, do not. Our main result is then used in the tracking control problem of mechanical systems and ships. We use an adaptive backstepping design and prove UGAS of the closed-loop tracking error system, in particular, we obtain that both the tracking and parameter estimation errors converge uniformly globally to zero.

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