Robust feedback stabilization by means of Lyapunov-like functions determined by Lie brackets

被引：3

作者：

Fusco, Giovanni ^{[1
]}

机构：

[1] Univ Padua, Dept Math Tullio Levi Civita, Via Trieste 63, I-35121 Padua, Italy

来源：

JOURNAL OF DIFFERENTIAL EQUATIONS | 2021年 / 287卷

关键词：

Lyapunov functions; Asymptotic stabilizability; Robustness; Discontinuous feedback law; System sampling; Lie brackets; ASYMPTOTIC CONTROLLABILITY;

D O I：

10.1016/j.jde.2021.03.048

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

We use Lie brackets of unbounded vector fields to consider a dissipative relation that generalizes the differential inequality which defines classic control Lyapunov functions. Under minimal regularity assumptions, we employ locally semiconcave solutions of this extended relation, called in the following degree-k control Lyapunov functions, in order to design degree-k Lyapunov feedbacks, i.e. particular discontinuous feedback laws that stabilize the underlying system to a given closed target with compact boundary, in the sample and hold sense. We also prove that this feedback construction is robust when small measurement errors and external disturbances occur. (C) 2021 Elsevier Inc. All rights reserved.

引用

页码：88 / 112

页数：25

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