Étale backstepping for control Lyapunov function design on manifold
نویسندگان
چکیده
منابع مشابه
Control Lyapunov Function Based Feedback Design for Quasi-Polynomial Systems
The aim of this work is to present an entropy-like Lyapunov function based dynamic feedback design technique for quasi-polynomial and Lotka-Volterra systems. It is shown, that the dynamic feedback design problem is equivalent to the feasibility of a bilinear matrix inequality. The problem is also formulated as a control Lyapunov function based feedback design when the Lyapunov function paramete...
متن کاملDesign of a Control Lyapunov Function for Stabilizing Specified States
This paper focuses on the design of control Lyapunov function for control affine systems to guarantee the stability for the states of interest in a specified region. Without restrictive assumptions found in previous approaches, a min-max optimization problem is formulated to solve for a quadratic Lyapunov function. A derivative-free coordinate search method is employed to optimize a non-differe...
متن کاملControl Lyapunov Function
Power systems exhibit various modes of oscillation due to interactions among system components. Many of the oscillations are due to synchronous machine rotors swinging relative to each other. Controllable Series Devices (CSD), i.e. series connected Flexible AC Transmission Systems (FACTS) devices, such as Unified Power Flow Controller (UPFC), Controllable Series Capacitor (CSC) and Quadrature B...
متن کاملRobust Backstepping Control Based on a Lyapunov Redesign for Skid-Steered Wheeled Mobile Robots
This paper represents a robust backstepping tracking control based on a Lyapunov redesign for Skid‐Steered Wheeled Mobile Robots (WMRs). We present kinematic and dynamic models that explicitly relate the perturbations to the skidding in order to improve the tracking performance during real running. A robust controller is synthesized in the backstepping approach ...
متن کاملControl Lyapunov Function Design by Cancelling Input Singularity
If one can find a control Lyapunov function (CLF) for a given nonlinear system, the control input stabilizing the system can be easily obtained. To find a CLF, the time derivative of an energy function should be negative definite. This procedure frequently requires a control input which is a rational function or includes an inverse function. The control input is not defined on the specific stat...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Automatica
سال: 2017
ISSN: 0005-1098
DOI: 10.1016/j.automatica.2017.05.010