in the repository
Title data
Braun, Philipp ; Kellett, Christopher M.:
On (the existence of) Control Lyapunov Barrier Functions.
Newcastle, Australia
,
2017
. - 19 S.
![[thumbnail of CLBFs_submission_pbraun.pdf]](https://epub.uni-bayreuth.de/style/images/fileicons/application_pdf.png) |
|
||||||||
|
Download (1MB)
|
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
Recently, [17] proposed control Lyapunov barrier functions (CLBFs) for the stabilization of nonlinear dynamical systems with state constraints. Under the assumption of the existence of a smooth CLBF, Sontag's universal formula was used to define a continuous feedback ensuring that the constraints are satisfied. However, as we demonstrate in this paper, the above approach neglects the necessity of discontinuous controllers in the case of state constraints. Additionally, we show that the assumption of a smooth CLBF limits the state constraints to those defined by unbounded sets. Consequently, we introduce the notion of nonsmooth complete control Lyapunov functions (CCLFs) and indicate how they may be used for stabilization in the presence of state constraints.
Further data
| Item Type: | Preprint, postprint |
|---|---|
| Keywords: | (nonsmooth) control Lyapunov functions; control of constrained systems; asymptotic stabilization |
| 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) 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 Profile Fields Profile Fields > Advanced Fields |
| Language: | English |
| Originates at UBT: | No |
| URN: | urn:nbn:de:bvb:703-epub-3522-6 |
| Date Deposited: | 04 Dec 2017 07:23 |
| Last Modified: | 18 Mar 2019 10:24 |
| URI: | https://epub.uni-bayreuth.de/id/eprint/3522 |
Download Statistics