Minimum projection method for nonsmooth control Lyapunov function design on general manifolds

DOI10.1016/J.SYSCONLE.2009.07.002zbMath1181.93071OpenAlexW1965438480MaRDI QIDQ847122

Hisakazu Nakamura, Yuh Yamashita, Hirokazu Nishitani

Publication date: 12 February 2010

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2009.07.002

zbMATH Keywords

manifoldnonlinear systemdiscontinuous controlcontrol Lyapunov function

Mathematics Subject Classification ID

Lyapunov and storage functions (93D30) Asymptotic stability in control theory (93D20) Control/observation systems in abstract spaces (93C25)

Related Items (5)

Multilayer Minimum Projection Method with Singular Point Assignment for Nonsmooth Control Lyapunov Function Design ⋮ Multilayer minimum projection method for nonsmooth strict control Lyapunov function design ⋮ Étale backstepping for control Lyapunov function design on manifold ⋮ Asymptotic stabilization with locally semiconcave control Lyapunov functions on general manifolds ⋮ Retraction obstruction to time-varying stabilization

Cites Work

• Semiconcave functions, Hamilton-Jacobi equations, and optimal control
• Existence of Lipschitz and Semiconcave Control-Lyapunov Functions
• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• Control Lyapunov Functions and Zubov's Method
• Practical and Asymptotic Stabilization of Chained Systems by the Transverse Function Control Approach
• Semiconcave Control-Lyapunov Functions and Stabilizing Feedbacks
• Discontinuous dynamical systems
• Robust nonlinear control design. State-space and Lyapunov techniques
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