کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
756560 896192 2010 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Multilayer minimum projection method for nonsmooth strict control Lyapunov function design
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Multilayer minimum projection method for nonsmooth strict control Lyapunov function design
چکیده انگلیسی

Asymptotic stabilization on noncontractible manifolds is known as a difficult control problem. To address this problem, we had proposed the minimum projection method to design nonsmooth control Lyapunov functions. This method, however, has some problems: difficult étale-surjection design, undesirable resulting control Lyapunov functions, etc.In this paper, we propose a new nonsmooth control Lyapunov function design method called the ‘Multilayer minimum projection method’ for nonsmooth control Lyapunov function design on general manifolds. The method considers many simple-structured smooth manifolds associated with the original manifold by étale mappings, and then a function on the original manifold is obtained by projecting control Lyapunov functions defined on the simple-structured manifolds onto the original manifold.In this paper, we prove that the resulting function by the proposed method is a nonsmooth control Lyapunov function on the original manifold. Moreover, we prove that if all control Lyapunov functions defined on simple-structured manifolds are strict, the control Lyapunov function on the original manifold is a strict control Lyapunov function. Finally, the effectiveness of the proposed method and the advantage over the conventional minimum projection method are confirmed by an example.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Systems & Control Letters - Volume 59, Issue 9, September 2010, Pages 563–570
نویسندگان
, , , ,