Polytopic control Lyapunov functions for robust stabilization of a class of nonlinear systems

被引：7
|
作者：
McConley, MW
Dahleh, MA
Feron, E
机构：
[1] MIT, Dept Elect Engn, Cambridge, MA 02139 USA
[2] Charles Stark Draper Lab Inc, Cambridge, MA 02139 USA
[3] MIT, Dept Aeronaut & Astronaut, Cambridge, MA 02139 USA
来源：
SYSTEMS & CONTROL LETTERS | 1998年 / 34卷 / 1-2期
基金：
美国国家科学基金会;
关键词：
Lyapunov methods; nonlinear control systems; robustness; bounded control; linear programming;
D O I：
10.1016/S0167-6911(97)00135-7
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We develop a method for computing a region in state space over which a nonlinear system is guaranteed by a given polytopic control Lyapunov function to be stable in closed loop under some appropriate control law. For systems which are nonlinear in only a few state variables, the procedure is computationally tractable; the computation time required to evaluate stability over each cone comprising a level set of the Lyapunov function is exponential in the number of "nonlinear states" but otherwise polynomial in the dimension of the full state space. Control constraints and robustness to bounded disturbances are easily incorporated. (C) 1998 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：77 / 83
页数：7
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