Smooth blending of nonlinear controllers using density functions
Rantzer, Anders LU
and Ceragioli, Francesca
(2001)
- Abstract
- A new convergence criterion for nonlinear systems was recently derived by the first author. The criterion is similar to Lyapunov’s second theorem but differs in several respects. In particular, it has a remarkable convexity property in the context of control synthesis. While the set of control Lyapunov functions for a given system may not even be connected, the corresponding set of “density” functions is always convex. In this paper, we will demonstrate how this opens new possibilities in synthesis of nonlinear controllers. We also give an alternative version of the criterion, that proves attractivity of a set rather
than a point in the state space.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/537918
- author
- Rantzer, Anders
LU
and Ceragioli, Francesca
- organization
- publishing date
- 2001
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- convexity, Stabilization, nonlinear systems
- external identifiers
-
- scopus:84947460479
- language
- English
- LU publication?
- yes
- id
- 921b9c36-aafc-4136-9c93-2dc1355e2411 (old id 537918)
- date added to LUP
- 2016-04-04 14:36:00
- date last changed
- 2023-11-21 17:17:17
@misc{921b9c36-aafc-4136-9c93-2dc1355e2411,
abstract = {{A new convergence criterion for nonlinear systems was recently derived by the first author. The criterion is similar to Lyapunov’s second theorem but differs in several respects. In particular, it has a remarkable convexity property in the context of control synthesis. While the set of control Lyapunov functions for a given system may not even be connected, the corresponding set of “density” functions is always convex. In this paper, we will demonstrate how this opens new possibilities in synthesis of nonlinear controllers. We also give an alternative version of the criterion, that proves attractivity of a set rather<br/><br>
than a point in the state space.}},
author = {{Rantzer, Anders and Ceragioli, Francesca}},
keywords = {{convexity; Stabilization; nonlinear systems}},
language = {{eng}},
title = {{Smooth blending of nonlinear controllers using density functions}},
url = {{https://lup.lub.lu.se/search/files/6397589/8868345.pdf}},
year = {{2001}},
}