Title data
Baier, Robert ; Hafstein, Sigurdur Freyr:
Numerical computation of control Lyapunov functions in the sense of generalized gradients.
In:
MTNS 2014 : 21st International Symposium on Mathematical Theory of Networks and Systems, July 711, 2014, Groningen, The Netherlands ; Proceedings. 
Groningen
: University of Groningen
,
2014
.  pp. 11731180
ISBN 9789036763219
This is the latest version of this item.
Related URLs
Project information
Project title: 



Project financing: 
Andere European Union "FP7PeopleITN" programme 
Abstract in another language
The existence of a control Lyapunov function with the weak infinitesimal decrease via the Dini or the proximal
subdifferential and the lower Hamiltonian characterizes asymptotic controllability of nonlinear control systems and differential inclusions. We study the class of nonlinear differential inclusions with a righthand side formed by the convex hull of active C² [$C^2$] functions which are defined on subregions of the domain. For a simplicial triangulation we parametrize a control Lyapunov function (clf) for nonlinear control systems by a continuous, piecewise affine (CPA) function via its values at the nodes and demand a suitable negative upper bound in the weak decrease condition on all vertices of all simplices.
Applying estimates of the proximal subdifferential via active gradients we can set up a mixed integer linear problem (MILP) with inequalities at the nodes of the triangulation which can be solved to obtain a CPA function. The computed function is a clf for the nonlinear control system.
We compare this novel approach with the one applied to
compute Lyapunov functions for strongly asymptotically stable differential inclusions and give a first numerical example.
Further data
Item Type:  Article in a book 

Refereed:  Yes 
Additional notes:  Paper No. 232, full paper.
Contents: I. Preliminaries II. Control Lyapunov Functions III. Approach with Mixed Integer Programming IV. Numerical Example V. Conclusions © 2014 IEEE. Reuse of this content is subject to the IEEE Copyright. This content will be published in: Proceedings on the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014), July 7–11, 2014, University of Groningen, Groningen, Netherlands, check the forthcoming abstract in IEEE Explore. 
Keywords:  control Lyapunov functions; asymptotic controllability; nonlinear control systems; continuous, piecewise affine functions; mixed integer linear programming 
Subject classification:  Mathematics Subject Classification Code: 93D30 (93B05 90C11) 
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 
Result of work at the UBT:  Yes 
DDC Subjects:  500 Science > 510 Mathematics 
Date Deposited:  11 Mar 2015 06:37 
Last Modified:  01 Jun 2021 10:20 
URI:  https://eref.unibayreuth.de/id/eprint/8004 
Available Versions of this Item

Numerical computation of control Lyapunov functions in the sense of generalized gradients. (deposited 07 Mar 2015 22:00)
 Numerical computation of control Lyapunov functions in the sense of generalized gradients. (deposited 11 Mar 2015 06:37) [Currently Displayed]