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- W2105164082 abstract "A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions (CLFs). Classically, a CLF enforces that the resulting closed-loop state trajectory is contained within a cone with a fixed, predefined shape, and which is centered at and converges to a desired converging point. However, such a requirement often proves to be overconservative. In this paper we propose a novel idea that improves the design of CLFs in terms of flexibility, i.e. the CLF is permitted to be locally non-monotone along the closed-loop trajectory. The focus is on the design of optimization problems that allow certain parameters that define a cone associated with a standard CLF to be decision variables. In this way non-monotonicity of the CLF is explicitly linked with a decision variable that can be optimized on-line. Conservativeness is significantly reduced compared to classical CLFs, which makes flexible CLFs more suitable for stabilization of constrained discrete-time nonlinear systems and real-time control." @default.
- W2105164082 created "2016-06-24" @default.
- W2105164082 creator A5045512282 @default.
- W2105164082 date "2009-01-01" @default.
- W2105164082 modified "2023-09-25" @default.
- W2105164082 title "Flexible control Lyapunov functions" @default.
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- W2105164082 doi "https://doi.org/10.1109/acc.2009.5160426" @default.
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