Title data
Braun, Philipp ; Kellett, Christopher M.:
On (the existence of) Control Lyapunov Barrier Functions.
Newcastle, Australia
,
2017
. - 19 p.
Project information
Project title: |
Project's official title Project's id Activating Lyapunov-Based Feedback - Nonsmooth Control Lyapunov Functions G1500106 |
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Project financing: |
ARC (Australian Research Council) |
Abstract in another language
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 |
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Keywords: | (nonsmooth) control Lyapunov functions; control of constrained systems; asymptotic stabilization |
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: | No |
DDC Subjects: | 500 Science > 510 Mathematics |
Date Deposited: | 09 Dec 2017 22:00 |
Last Modified: | 23 Mar 2021 09:12 |
URI: | https://eref.uni-bayreuth.de/id/eprint/40899 |