Title :
Smooth patchy control Lyapunov functions
Author :
Goebel, Rafal ; Prieur, Christophe ; Teel, Andrew R.
Author_Institution :
Dept. of Math., Washington Univ., Seattle, WA
Abstract :
A smooth patchy control Lyapunov function for a nonlinear system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy a decrease condition when the domains overlap. We prove that such a control Lyapunov function exists for any asymptotically controllable nonlinear system. We also show a construction, based on such a Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise
Keywords :
Lyapunov methods; asymptotic stability; feedback; nonlinear control systems; state-space methods; asymptotically controllable nonlinear system; smooth patchy control Lyapunov functions; stabilizing hybrid feedback; state space; Additive noise; Control systems; Lyapunov method; Noise measurement; Noise robustness; Nonlinear control systems; Nonlinear systems; Robust control; Robust stability; State feedback;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377706
