Title data
Braun, Philipp ; Grüne, Lars ; Kellett, Christopher M.:
Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator.
In:
Proceedings of the 56th IEEE Annual Conference on Decision and Control (CDC 2017), Melbourne, Australia. 
Melbourne
,
2017
.  pp. 48904895
ISBN 9781509028733
DOI: https://doi.org/10.1109/CDC.2017.8264382
This is the latest version of this item.
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Project financing: 
ARC (Australian Research Council) 
Abstract in another language
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.
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Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator. (deposited 25 Mar 2017 22:00)
 Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator. (deposited 26 Jan 2018 08:21) [Currently Displayed]