• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.119-122
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• 1996

The recently proposed control method using a Lyapunov-like function can give global asymptotic stability to a system with mismatched uncertainties if the uncertainties are bounded by a known function and the uncontrolled system is locally and asymptotically stable. In this paper, we modify the method so that it can be applied to a system not satisfying the latter condition without deteriorating qualitative performance. The assured stability in this case is uniform ultimate boundedness which is as useful as global asymptotic stability in the sense that it is global and the bound can be taken arbitrarily small. By the proposed control law we can deal with both matched and mismatched uncertain systems. The above facts conclude that Lyapunov-like control method is superior to any other Lyapunov direct methods in its applicability to uncertain systems.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.7
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• pp.29-36
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• 1998

In this paper we propose a control law using a Lyapunov-like function that makes stable the systems which have mis-matched uncertainties. The existing control law using a Lyapunov-like function, which gives global saymptotic stability, is designed under the assumption of a targetsystem to be stable locally. But we broaden here the class of target systems by designing the control law which can give uniform ultimate boundedness to even the systems not satisfing the locally asymptotic stability. And we also show that the control law giving global asymptotic stability can be designed more systematically through using the uniform ultimate boundedness.