Robust Tracking Control of Lagrange Systems with Discontinuity: a Filippov-Framework Approach

In this paper, the robust tracking control problem is addressed for Lagrange systems with discontinuous uncertainty. The structure of presented controller is L_gV-based switching control, and the analysis for the resulting closed loop systems is based on the Filippov´s framework. It is shown that for the discontinuous systems, no Lipschitz continuous controller exists to asymptotically stabilize the error system, because of the existence of nontrivial equilibrium set including the origin. Using the proposed design approach, a robust tracking controller which makes the error system asymptotically stable is provided