Robust Asymptotic Stabilization of Hybrid Systems using Control Lyapunov Functions

被引：8
|
作者：
Sanfelice, Ricardo G. [1 ]
机构：
[1] Univ Calif Santa Cruz, Dept Comp Engn, Santa Cruz, CA 95064 USA
来源：
HSCC'16: PROCEEDINGS OF THE 19TH INTERNATIONAL CONFERENCE ON HYBRID SYSTEMS: COMPUTATION AND CONTROL | 2016年
基金：
美国国家科学基金会;
关键词：
Hybrid systems; Robust stability; Control Lyapunov functions;
D O I：
10.1145/2883817.2883848
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
We propose tools for the study of robust stabilizability and the design of robustly stabilizing feedback laws for a wide class of hybrid systems given in terms of hybrid inclusions with inputs and disturbances. We introduce notions of robust uniform global stabilizability and stabilization that capture the case when disturbances can be fully rejected, practically rejected, and when they induce a residual set that can be stabilized. Robust control Lyapunov functions are em- ployed to determine when stabilizing static state-feedback laws are available and also to synthesize robustly stabilizing feedback laws with minimum pointwise norm. Sufficient conditions on the data of the hybrid system as well as on the control Lyapunov function are proposed for the said properties to hold. An example illustrates the results throughout the paper.
引用
收藏
页码：235 / 244
页数：10
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