Uniting two Control Lyapunov Functions for affine systemsReport as inadecuate




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1 LAGEP - Laboratoire d-automatique et de génie des procédés 2 GIPSA-SYSCO - SYSCO GIPSA-DA - Département Automatique

Abstract : The problem of piecing together two Control Lyapunov Functions CLFs is addressed. The first CLF characterizes a local asymptotic controllability property toward the origin, whereas the second CLF is related to a global asymptotic controllability property with respect to a compact set. A sufficient condition is expressed to obtain an explicit solution. This sufficient condition is shown to be always satisfied for a linear second order controllable system. In a second part, it is shown how this uniting CLF problem can be used to solve the problem of piecing together two stabilizing control laws. Finally, this framework is applied on a numerical example to improve local performance of a globally stabilizing state feedback.





Author: Vincent Andrieu - Christophe Prieur -

Source: https://hal.archives-ouvertes.fr/



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