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Weak Input-to-State Stability Properties for Navigation Function Based Controllers
Proceedings of the 45th IEEE Conference on Decision and Control
Due to topological constraints, Navigation Functions, are not, except from trivial cases, equivalent to quadratic Lyapunov functions, hence systems based on Navigation Functions cannot directly accept an Inputto-State stability (ISS) characterization. However a relaxed version of Input-to-State stability, namely almost global ISS (aISS), is shown to be applicable. The proposed framework provides compositional capability for navigation function based systems. Cascade as well as feedbackdoi:10.1109/cdc.2006.377765 dblp:conf/cdc/Loizou006 fatcat:cpq5cnmncbhk3h6khrug7kcpdi