Title :
Homogeneous Stabilization for Input Affine Homogeneous Systems
Author :
Nakamura, Nami ; Nakamura, Hisakazu ; Yamashita, Yuh ; Nishitani, Hirokazu
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma, Japan
Abstract :
Dilated homogeneous systems are local canonical forms of nonlinear control systems. For input affine homogeneous systems, existence of continuous homogeneous stabilizing controllers is equivalent to existence of differentiable homogeneous control Lyapunov functions. In this technical note, we propose an homogeneous stabilizing controller and an homogeneous inverse optimal controller for multi-input affine homogeneous systems with given homogeneous control Lyapunov functions.
Keywords :
Lyapunov methods; continuous systems; nonlinear control systems; optimal control; stability; differentiable homogeneous control Lyapunov functions; dilated homogeneous systems; homogeneous inverse optimal controller; homogeneous stabilization; input affine homogeneous systems; local canonical forms; multi-input affine homogeneous systems; nonlinear control systems; Algorithm design and analysis; Automatic control; Control systems; Convergence; Information science; Lyapunov method; Nonlinear control systems; Nonlinear systems; Optimal control; Real time systems; Scheduling algorithm; Stability; State estimation; Trajectory; Control Lyapunov function; homogeneous system; nonlinear systems; optimal control; stability of nonlinear systems;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2026865
