Naslov
Synthesis of trajectory-dependent control Lyapunov functions by a single linear program

Autori
Lazar, Mircea ; Jokić, Andrej

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Hybrid Systems: Computation and Control / - : Springer, 2009, 237-251

Skup
Hybrid Systems: Computation and Control

Mjesto i datum
San Francisco (CA), Sjedinjene Američke Države, 2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Control Lyapunov functions; stability; optimization

Sažetak
Although control Lyapunov functions (CLFs) provide a mature framework for the synthesis of stabilizing controllers, their application in the field of hybrid systems remains scarce. The main reason for this is conservativeness of Lyapunov conditions. This manuscript proposes a methodology that reduces conservatism of CLF design and is applicable to a wide class of discrete-time nonlinear hybrid systems. Rather than searching for global CLFs off-line, we focus on synthesizing CLFs through on-line optimization problems, in a receding horizon fashion. This approach makes it possible to derive a trajectory-dependent CLF, which is allowed to be locally non-monotone. Besides the theoretical appeal of the proposed idea, we indicate that for systems affine in control and CLFs based on infinity norms, the corresponding optimization problems can be formulated as a single linear program.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

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