A new class of robust controllers for nonlinear uncertain systems

Stabilization of uncertain dynamic systems is studied, and a new class of robust control is proposed. The proposed robust control is computationally simpler and guarantees stability for systems with as many input-unrelated uncertainties as those addressed by existing robust controls. It is different from existing switching-type or minimax robust controllers in that it can guarantee exponential or asymptotic stability while being uniformly continuous. The proposed class of controls also includes existing controllers and their stability results as special cases. Another feature is that it is decoupled with respect to possible uncertainties, that is, each component in the control vector requires only the bounding function of the corresponding local uncertainty. This feature allows one to design scalar robust control specifically for possible uncertainties at different control channels