COMPONENTWISE BOUNDED CONTROLLERS FOR ROBUST EXPONENTIAL CONVERGENCE

This paper presents controllers for a class of nonlinear uncertain sys tems when each control input is subject to an upper bound on its magni tude or norm. The proposed controllers ensure that all closed loop sta re trajectories which originate in a bounded region exponentially conv erge to a desired neighborhood of the origin with a desired rare of co nvergence, The results are illustrated by applying them to the stabili zation of a spacecraft subject to bounded control and disturbance torq ues.