Componentwise Bounded Controllers for Robust Exponential Convergence

Abstract

This paper presents controllers for a class of nonlinear uncertain systems when each control input is subject to an upper bound on its magnitude or norm. The proposed controllers ensure that all closed loop state trajectories which originate in a bounded region exponentially converge to a desired neighborhood of the origin with a desired rate of convergence. The results are illustrated by applying them to the stabilization of a spacecraft subject to bounded control and disturbance torques.