Title data
Braun, Philipp ; Grüne, Lars ; Kellett, Christopher M.:
Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator.
Bayreuth
,
2017
.  8 S.
Project information
Project title: 



Project financing: 
ARC (Australian Research Council) 
Abstract
Theoretical results for the existence of (nonsmooth) 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 selfcontained, we review theoretical results on the existence of nonsmooth CLFs.
Further data
Item Type:  Preprint, postprint 

Keywords:  Lyapunov Methods; Stability of Nonlinear Systems; Nonholonomic Systems 
DDC Subjects:  500 Science > 510 Mathematics 
Institutions of the University:  Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) > Chair Mathematics V (Applied Mathematics)  Univ.Prof. Dr. Lars Grüne Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Applied Mathematics Profile Fields > Advanced Fields > Nonlinear Dynamics Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) Profile Fields Profile Fields > Advanced Fields 
Language:  English 
Originates at UBT:  Yes 
URN:  urn:nbn:de:bvb:703epub32478 
Date Deposited:  20 Mar 2017 08:45 
Last Modified:  28 Mar 2019 10:36 
URI:  https://epub.unibayreuth.de/id/eprint/3247 