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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.
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organization
publishing date
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Contribution to conference
publication status
published
subject
keywords
convexity, Stabilization, nonlinear systems
language
English
LU publication?
yes
id
921b9c36-aafc-4136-9c93-2dc1355e2411 (old id 537918)
date added to LUP
2007-09-24 16:46:04
date last changed
2016-04-16 12:45:04
@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},
  keyword      = {convexity,Stabilization,nonlinear systems},
  language     = {eng},
  title        = {Smooth blending of nonlinear controllers using density functions},
  year         = {2001},
}