TY - GEN
T1 - Feedback design using nonsmooth control Lyapunov functions
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
AU - Braun, Philipp
AU - Grune, Lars
AU - Kellett, Christopher M.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/28
Y1 - 2017/6/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85046125707&partnerID=8YFLogxK
U2 - 10.1109/CDC.2017.8264382
DO - 10.1109/CDC.2017.8264382
M3 - Conference contribution
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 4890
EP - 4895
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2017 through 15 December 2017
ER -