Searching for control Lyapunov-Morse functions using genetic programming for global asymptotic stabilization of nonlinear systems

Author

Tsuzuki, Takayuki ; Kuwada, Kousuke ; Yamashita, Yuh

Author_Institution

Graduate Sch. of Inf. Sci. & Technol., Hokkaido Univ., Sapporo

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

5114

Lastpage

5119

Abstract

The purpose of this paper is searching for control Lyapunov-Morse functions (CLMF) using genetic programming (GP) for one-input-affine systems on general manifolds. The CLMF is an extended control Lyapunov function (CLF) to have multiple critical points. It is shown that a C ¹ global stabilizer is derived from a CLF for the system. As in the case of CLF, a discontinuous global asymptotic stabilizer is obtained from a CLMF. However, there is no method constructing CLMF systematically. Then, we propose a method of searching for CLMF via GP to design the global asymptotic stabilizer

Keywords

Lyapunov methods; asymptotic stability; genetic algorithms; nonlinear systems; control Lyapunov-Morse functions; discontinuous global asymptotic stabilizer; general manifolds; genetic programming; global asymptotic stabilization; nonlinear systems; one-input-affine systems; Control systems; Genetic algorithms; Genetic programming; Information science; Lyapunov method; Nonlinear control systems; Nonlinear systems; State-space methods; Tree data structures; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.377681

Filename

4177528