Simultaneous Controller and Lyapunov Function Design for Constrained Nonlinear Systems

Reza, Lavaei,; Bridgeman, Leila Jasmine

doi:10.23919/acc53348.2022.9867153

Cited by 3 publications

(1 citation statement)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The study for linear piecewise affine systems is conducted in [11]. More generally for nonlinear systems, yet at the price of high computational burden with respect to the dimensionality problem, procedures to numerically compute a continuous piecewise affine CLF were developed in [12], [13] via state space triangulation. In [14], under a known assumed approximation error bound, a neural network structure was proposed to learn the dynamics, the Lyapunov function, and the controller simultaneously.…”

Section: Control)mentioning

confidence: 99%

LP-Generated Control Lyapunov Functions With Application to Multicopter Control

Do,

Blanchini,

Miani

et al. 2024

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

In this work, we study a technique of exploiting open-loop generated trajectories for a constrained control problem, using them to shape suitable non-quadratic Control Lyapunov Functions. These trajectories, generated off-line, allow detecting a suitable domain of attraction in which a candidate Lyapunov function has a negative derivative. Given a suitably constructed basis function, our working machinery is based on linear programming, hence, the technique can be applied to problems of non-trivial size in terms of the number of basis functions and points in the state space. For linear systems, we seek convex Lyapunov functions, which are homogeneous polynomials. Simulation and experimental results for drone control are given.

show abstract