Smooth blending of nonlinear controllers using density functions
Smooth blending of nonlinear controllers using density functions
复制标题
使用密度函数平滑混合非线性控制器
DOI：
10.23919/ecc.2001.7076364
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
F. Ceragioli
中科院分区：
文献类型：
--
作者：
A. Rantzer;F. Ceragioli
第一作者最近导出了非线性系统的一个新的收敛准则。该准则类似于李雅普诺夫第二定理，但在几个方面有所不同。特别是，它有一个显着的凸性属性的控制综合的背景下。虽然一个给定系统的控制李雅普诺夫函数集甚至可能不相连，但相应的“密度”函数集总是凸的。在本文中，我们将展示如何打开新的可能性，在非线性控制器的合成。我们还给出了该准则的另一个版本，该版本证明了状态空间中集合而不是点的吸引性。
A new convergence criterion for nonlinear systems was recently derived by the first author. The criterion is similar to Lyapunov's second theorem but differs in several respects. In particular, it has a remarkable convexity property in the context of control synthesis. While the set of control Lyapunov functions for a given system may not even be connected, the corresponding set of "density" functions is always convex. In this paper, we will demonstrate how this opens new possibilities in synthesis of nonlinear controllers. We also give an alternative version of the criterion, that proves attractivity of a set rather than a point in the state space.