ON THE COMPUTATION OF SET-INDUCED CONTROL LYAPUNOV FUNCTIONS FOR CONTINUOUS-TIME SYSTEMS

被引：1
|
作者：
Fiacchini, Mirko [1 ]
Prieur, Christophe [1 ]
Tarbouriech, Sophie [2 ,3 ]
机构：
[1] GIPSA Lab, F-38402 St Martin Dheres, France
[2] LAAS, CNRS, F-31400 Toulouse, France
[3] Univ Toulouse, LAAS, F-31400 Toulouse, France
来源：
SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2015年 / 53卷 / 03期
关键词：
invariant sets; viability theory; convex analysis; nonlinear systems; INVARIANT-SETS; LINEAR-SYSTEMS; STABILITY; STABILIZABILITY; STABILIZATION; REGIONS; SPACE; STATE;
D O I：
10.1137/130934908
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a computation-oriented method for characterizing and obtaining local control Lyapunov functions induced by particular star-shaped nonconvex sets for continuous-time nonlinear systems with bounded inputs. For a given set, the necessary and sufficient conditions for the induced function to be a nonconvex local control Lyapunov function are provided. The related convex problems for computing the exact region in which the function is decreasing and the optimal control input are presented. The results are applied to the Brockett integrator.
引用
收藏
页码：1305 / 1327
页数：23
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