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The authors consider a global robust asymptotic stabilization problem (GRS) for cascaded systems having dynamic uncertainties that are not necessarily input-to-state stable (ISS). Specifically, a recursive Lyapunov design approach is developed by induction on the system relative degree, providing a smoothly globally stabilizing controller. It is applicable to nonlinear cascaded systems having multiple distinct iISS dynamic uncertainties. The proposed design is constructive and leads to an iISS-Lyapunov characterization in a superposition form for the closed-loop system. [ABSTRACT FROM AUTHOR]

This paper studies the problem of global robust distributed output consensus of heterogeneous leader–follower multi-agent nonlinear systems by general directed output interactions. For a class of minimum-phase single-input single-output nonlinear agents having unity relative degree, it is shown that the problem is solvable by an internal model approach under certain mild conditions. A Lyapunov function based output-feedback control law is developed by converting the global output consensus into a global distributed stabilization problem for an augmented network. [ABSTRACT FROM AUTHOR]

Abstract: This paper studies the problem of decentralized measurement feedback stabilization of nonlinear interconnected systems. As a natural extension of the recent development on control vector Lyapunov functions, the notion of output control vector Lyapunov function (OCVLF) is introduced for investigating decentralized measurement feedback stabilization problems. Sufficient conditions on (local) stabilizability are discussed which are based on the proposed notion of OCVLF. It is shown that a decentralized controller for a nonlinear interconnected system can be constructed using these conditions under an additional vector dissipation-like condition. To illustrate the proposed method, two examples are given. [Copyright &y& Elsevier]

This paper focuses on robust nonlinear coordination of heterogeneous uncertain second-order multi-agent systems subject to directed communication topologies. We develop a nonlinear internal model principle based approach for the problem in a framework of cooperative global robust output regulation, independent of the a priori of the leader dynamics information except its order. As a major consequence, this study assures, by means of establishing a strict-Lyapunov function for the closed-loop system, not only a specified exponential convergence rate but also tolerable bounds of unmodeled disturbances. Hence, the former guarantees an appealing performance and the latter an important robustness property. [ABSTRACT FROM AUTHOR]