Title :
A New Nonlinear Controller Design Method Based on Control Lyapunov Function
Author :
He, Yuqing ; Han, Jianda
Author_Institution :
Robot. Lab., Chinese Acad. of Sci., Shenyang
Abstract :
A new formulation of nonlinear controller design method based on control Lyapunov function, called generalized pointwise min-norm (GPMN) controller, is introduced in this paper by generalizing the pointwise min-norm (PMN) controller presented by Freeman etc. And combining the GPMN controller with design-via-linearization approach of nonlinear system, we can obtain a new nonlinear controller design method, which can enlarge the stability region of the design-via-linearization approach and reserve the local performance of it. And a respectively robust and constrained version of this kind of controller is also introduced by considering both model uncertainty and input constraints.
Keywords :
Lyapunov methods; control system synthesis; nonlinear control systems; stability; control Lyapunov function; design-via-linearization approach; generalized pointwise min-norm controller; nonlinear controller design; nonlinear system; stability; Control system synthesis; Control systems; Design methodology; Laboratories; Lyapunov method; Nonlinear control systems; Nonlinear systems; Robots; Stability; Uncertainty; Control Lyapunov Function; Linearization; input constraint; model uncertainty; nonlinear system control;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340084