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 p.
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 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 self-contained, we review theoretical results on the existence of nonsmooth CLFs.
Further data
Available Versions of this Item
- Feedback Design Using Nonsmooth Control Lyapunov Functions: A Numerical Case Study for the Nonholonomic Integrator. (deposited 25 Mar 2017 22:00) [Currently Displayed]