Global Nonsmooth Control Lyapunov Function Design for Path-Following Problem via Minimum Projection Method

被引：6
|
作者：
Nakamura, Hisakazu [1 ]
机构：
[1] Tokyo Univ Sci, Noda, Chiba 2788510, Japan
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 18期
关键词：
Lyapunov Methods; Stabilization; Geometric Methods; STABILIZATION; TRACKING;
D O I：
10.1016/j.ifacol.2016.10.231
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Path-following and trajectory-tracking problems are important control problems. For the path-following problem the paper proposes a locally semiconcave path-following control Lyapunov function (PF-CLF). Moreover, the paper proposes the minimum projection method for PF-CLF design by using tracking control Lyapunov function. Furthermore, a static feedback controller for a path-following problem is proposed. Finally, we confirm the effectiveness of the proposed method by computer simulation. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：600 / 605
页数：6
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