Robust non-monotonic Lyapunov based stability and stabilization methods for continuous-time systems: Applied on bilateral teleoperation system

Abstract

This study introduces a Non-monotonic Lyapunov (NML) framework aimed at stability evaluation and controller design for continuous-time systems, particularly under conditions of uncertainty. Conventional Lyapunov techniques often exhibit a conservative nature, particularly in the context of uncertain systems, which necessitates the development of less conservative alternatives like NML. The NML methodology distinguishes itself by not imposing strict monotonicity requirements for demonstrating the decrease of a Lyapunov functional. Consequently, this paper derives new stability and stabilization criteria framed as matrix inequalities applicable to a specific class of uncertain systems. The practical applicability of the introduced approach is illustrated through controller design for uncertain systems, exemplified by a nonlinear bilateral teleoperation model. Assorted demonstrative examples and simulation outcomes support the findings, underscoring the NML approach’s efficaciousness.