Homogeneous Stabilization for Input Affine Homogeneous Systems

被引：36
|
作者：
Nakamura, Nami [1 ]
Nakamura, Hisakazu [1 ]
Yamashita, Yuh [1 ]
Nishitani, Hirokazu [1 ]
机构：
[1] Nara Inst Sci & Technol, Grad Sch Informat Sci, Ikoma, Japan
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2009年 / 54卷 / 09期
关键词：
Control Lyapunov function; homogeneous system; nonlinear systems; optimal control; stability of nonlinear systems; LYAPUNOV FUNCTIONS; FEEDBACK CONTROLS; STABILITY;
D O I：
10.1109/TAC.2009.2026865
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Dilated homogeneous systems are local canonical forms of nonlinear control systems. For input affine homogeneous systems, existence of continuous homogeneous stabilizing controllers is equivalent to existence of differentiable homogeneous control Lyapunov functions. In this technical note, we propose an homogeneous stabilizing controller and an homogeneous inverse optimal controller for multi-input affine homogeneous systems with given homogeneous control Lyapunov functions.
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页码：2271 / 2275
页数：5
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