- Title
- Feedback design using nonsmooth control Lyapunov functions: a numerical case study for the nonholonomic integrator
- Creator
- Braun, Philipp; Grüne, Lars; Kellet, Christopher M.
- Relation
- 2017 IEEE 56th IEEE Conference on Decision and Control (CDC 2017). Proceedings of the 2017 56th IEEE Conference on Decision and Control (Melbourne 12-15 December, 2017) p. 4890-4895
- Relation
- Funding BodyARCGrant NumberDP160102138 http://purl.org/au-research/grants/arc/DP160102138
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2017.8264382
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2017
- Description
- Theoretical results for the existence of (non-smooth) control Lyapunov functions (CLFs) for nonlinear systems asymptotically controllable to the origin or a closed set have been available since the late 1990s. Additionally, robust feedback stabilizers based on such CLFs have also been available though, to the best of our knowledge, these stabilizers have not been implemented. Here, we numerically investigate the properties of the closed loop solutions of the nonholonomic integrator using three control techniques based on the knowledge of two different nonsmooth CLFs. In order to make the paper self-contained, we review theoretical results on the existence of nonsmooth CLFs.
- Subject
- asymptotic stability; Lyapunov methods; robustness; predictive control; stability analysis; Australia; control systems
- Identifier
- http://hdl.handle.net/1959.13/1385201
- Identifier
- uon:32198
- Identifier
- ISBN:9781509028733
- Language
- eng
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