Nonsmooth and discontinuous speed-gradient algorithms

被引：13
|
作者：
Dolgopolik, M. V. [1 ]
Fradkov, A. L.
机构：
[1] St Petersburg State Univ, 7-9 Univ Skaya Emb, St Petersburg 199034, Russia
来源：
NONLINEAR ANALYSIS-HYBRID SYSTEMS | 2017年 / 25卷
基金：
俄罗斯科学基金会;
关键词：
Speed-gradient; Nonsmooth systems; Finite-time convergence; Pendulum; PASSIFICATION; STABILITY; SYSTEMS;
D O I：
10.1016/j.nahs.2017.03.005
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, nonsmooth extensions of the Speed-Gradient (SG) algorithms in differential and finite forms are proposed. The conditions ensuring achievement of the control goal (convergence of the goal function to zero) are established. Furthermore, conditions under which the control goal is achieved in finite time with the use of nonsmooth or discontinuous SG algorithms are obtained. Theoretical results are illustrated by example of nonsmooth energy-based control for a non-affine in control pendulum-like system. (C) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：99 / 113
页数：15
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