A fast sampling method for estimating the domain of attraction

被引：42
作者：
Najafi, Esmaeil [1 ,2 ]
Babuska, Robert [1 ]
Lopes, Gabriel A. D. [1 ]
机构：
[1] Delft Univ Technol, Delft Ctr Syst & Control, Mekelweg 2, NL-2628 CD Delft, Netherlands
[2] Univ Tehran, Fac New Sci & Technol, Dept Mechatron Syst Engn, Tehran 1439957131, Iran
来源：
NONLINEAR DYNAMICS | 2016年 / 86卷 / 02期
关键词：
Domain of attraction; Lyapunov function; Optimization; Sampling method; QUADRATIC LYAPUNOV FUNCTIONS; COMPUTATION; REGION; OPTIMIZATION; SYSTEMS;
D O I：
10.1007/s11071-016-2926-7
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Most stabilizing controllers designed for nonlinear systems are valid only within a specific region of the state space, called the domain of attraction (DoA). Computation of the DoA is usually costly and time-consuming. This paper proposes a computationally effective sampling approach to estimate the DoAs of nonlinear systems in real time. This method is validated to approximate the DoAs of stable equilibria in several nonlinear systems. In addition, it is implemented for the passivity-based learning controller designed for a second-order dynamical system. Simulation and experimental results show that, in all cases studied, the proposed sampling technique quickly estimates the DoAs, corroborating its suitability for real-time applications.
引用
收藏
页码：823 / 834
页数：12
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