%0 Book Section %D 2006 %T Tools for semiglobal practical stability analysis of cascaded systems and applications %A A. Chaillet %K Robotics %X

We present sufficient conditions for semiglobal and/or practical stability in terms of Lyapunov-like functions. Based on this, we provide a result for the stability analysis of cascaded systems. A converse result is also presented for a particular class of uniformly semiglobally practically asymptotically stable systems. We briefly show the usefulness of these results through various applications in the control of mechanical systems.

%S International Scientific and Technical Encyclopedia %C Paris, France %8 July %G eng %& in Proceedings of the CTS–HYCON Workshop