کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
756566 1462336 2009 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Minimum Projection Method for nonsmooth control Lyapunov function design on general manifolds
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Minimum Projection Method for nonsmooth control Lyapunov function design on general manifolds
چکیده انگلیسی

Asymptotic stabilization on noncontractible manifolds is known as a difficult control problem. On the other hand, an important fact is every control system that is globally asymptotically stabilizable at a desired equilibrium must have nonsmooth control Lyapunov functions.This paper considers the problem of construction of nonsmooth control Lyapunov functions on general manifolds, and we propose a nonsmooth control Lyapunov function design method called the ‘Minimum Projection Method’. The proposed method considers a simple-structured smooth manifold associated with the original manifold by a surjective immersion, and then a control Lyapunov function defined on the simple-structured manifold is projected to the original manifold. A function on the original manifold is thus obtained.In this paper, we prove that the control system on another manifold associated with a surjective immersion is determined uniquely, and the resulting function by the proposed method is a nonsmooth control Lyapunov function on the original manifold. The effectiveness of the proposed method is confirmed by examples.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Systems & Control Letters - Volume 58, Issues 10–11, October–November 2009, Pages 716–723
نویسندگان
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