文章基本信息

标题：Minimum Projection Method for Asymptotic Stabilization of Compact Set ∗
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作者：Hisakazu Nakamura ; Yu Koyama
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：11
页码：1012-1017
DOI：10.1016/j.ifacol.2015.09.325
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we elucidate the fact that for a continuous differential equation, an asymptotically stable set is homotope to the state space on which the differential equation is defined. Then, we define locally semiconcave practical control Lyapunov functions for stabilization of compact sets and sample stability of the set. Moreover, we propose Minimum Projection Method for stabilization of compact sets and a static discontinuous feedback controller that sample stabilizes a compact set. The effectiveness of the proposed method is confirmed by computer simulation.
关键词：Keywordsnonlinear controldiscontinuous controlLyapunov methodsasymptotic stabilityrobot control