Optimal NPID Stabilization of Linear Systems
نویسنده
چکیده
We consider the problem of finding optimal, robust stabilization of linear systems within a family of nonlinear feedback laws. Investigation of the efficiency of full-state and partial-state based so called NPID feedback schemes proposed for stabilization of systems in robotics applications has provided the motivation for our work. We prove that for a given quadratic Lyapunov function and a given family of nonlinear feedback laws there exist optimal piecewise linear feedbacks that make the generalized Lyapunov derivative of the closed loop system minimal. The result provided improved stabilization over the nonlinear stabilizing feedback law proposed in Ref. 1 as demonstrated in simulations of the Sarcos Dextrous Manipulator.
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تاریخ انتشار 2004