Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator

URN to cite this document: urn:nbn:de:bvb:703-epub-3247-8

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.

	Format: PDF Name: CLF_pbraun.pdf Version: Preprint Available under License German copyright law. The document may be used free of charge for personal use. In addition, the reproduction, editing, distribution and any kind of exploitation require the written consent of the respective rights holder.
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Project information

Project title:	Project's official title Project's id Activating Lyapunov-Based Feedback - Nonsmooth Control Lyapunov Functions G1500106
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 self-contained, we review theoretical results on the existence of nonsmooth CLFs.

Further data

Item Type:	Preprint, postprint
Additional notes (visible to public):	erschienen in: Proceedings of the 56th IEEE Annual Conference on Decision and Control (CDC 2017), Melbourne, Australia. - Melbourne , 2017 . - S. 4890-4895 ISBN 978-1-5090-2873-3 DOI: https://doi.org/10.1109/CDC.2017.8264382
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:703-epub-3247-8
Date Deposited:	20 Mar 2017 08:45
Last Modified:	27 May 2021 09:50
URI:	https://epub.uni-bayreuth.de/id/eprint/3247

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