Some New Results on Robust Nonlinear Forwarding

This paper considers the problem of robust stabilization for a class of uncertain nonlinear systems which involve a base system with a control input and a forwarding structure. Both parts of the system are allowed to be nonlinear, multidimensional, and containing uncertain parameters. We present a new approach to design stabilizing controllers which assure both robust global asymptotic stability and local quadratic stability. The main assumptions required for such a robust stabilizing controller to exist are quadratic stabilizability for the local linearized model of the system, global asymptotic stabilizabilityf or the base system and some mild conditions on the forwarding structure and the nonlinearity of the system