Control Lyapunov function approach to robust stabilization of nonlinear systems

Marc W. McConley; Brent Appleby; Munther A. Dahleh; Eric Feron

Control Lyapunov function approach to robust stabilization of nonlinear systems

Marc W. McConley, Brent Appleby, Munther A. Dahleh, Eric Feron

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose an alternative to gain scheduling for stabilizing a class of nonlinear systems. The computation times required to find stability regions for a given control Lyapunov function vary polynomially with the state dimension for a fixed number of scheduling variables. Control Lyapunov functions to various trim points are used to expand the stability region, and a Lyapunov based synthesis formula yields a control law guaranteeing stability over this region. Robustness to bounded disturbances is easily handled, and the optimal stability margin, defined as a Lyapunov derivative, is recovered asymptotically. We apply the procedure to an example.

Original language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	IEEEPiscataway, NJ, United States
Pages	329-333
Number of pages	5
State	Published - Jan 1 1997
Externally published	Yes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2021-02-18

Cite this

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AU - Appleby, Brent

AU - Dahleh, Munther A.

AU - Feron, Eric

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PY - 1997/1/1

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N2 - We propose an alternative to gain scheduling for stabilizing a class of nonlinear systems. The computation times required to find stability regions for a given control Lyapunov function vary polynomially with the state dimension for a fixed number of scheduling variables. Control Lyapunov functions to various trim points are used to expand the stability region, and a Lyapunov based synthesis formula yields a control law guaranteeing stability over this region. Robustness to bounded disturbances is easily handled, and the optimal stability margin, defined as a Lyapunov derivative, is recovered asymptotically. We apply the procedure to an example.

AB - We propose an alternative to gain scheduling for stabilizing a class of nonlinear systems. The computation times required to find stability regions for a given control Lyapunov function vary polynomially with the state dimension for a fixed number of scheduling variables. Control Lyapunov functions to various trim points are used to expand the stability region, and a Lyapunov based synthesis formula yields a control law guaranteeing stability over this region. Robustness to bounded disturbances is easily handled, and the optimal stability margin, defined as a Lyapunov derivative, is recovered asymptotically. We apply the procedure to an example.

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M3 - Conference contribution

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BT - Proceedings of the American Control Conference

PB - IEEEPiscataway, NJ, United States

ER -

Control Lyapunov function approach to robust stabilization of nonlinear systems

Abstract

Bibliographical note

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