Inverse optimal control and construction of control Lyapunov functions

被引：0
|
作者：
Shahmansoorian A. [1 ]
机构：
[1] Shahrood University of Technology, Faculty of Electrical and Robotic Engineering, Shahrood
来源：
Journal of Mathematical Sciences | 2009年 / 161卷 / 2期
关键词：
Nonlinear System; Suboptimal Solution; Gain Margin; Control Lyapunov Function; Main Theoretical Result;
D O I：
10.1007/s10958-009-9553-5
中图分类号：
学科分类号：
摘要：
In this paper, the construction of CLFs for nonlinear systems and a new inverse optimal control law are presented. The construction of a CLF for an affine nonlinear system is reduced to the construction of a CLF for a simpler system, and a new LgV type control law with respect to a CLF is provided. This control law is a generalization of Sontag's formula and contains a design parameter. Tuning this parameter gives many suboptimal solutions for the optimization problem. Also, the gain margin and sector margin of the control law are calculated. Examples are provided to illustrate the main theoretical results of the paper. © 2009 Springer Science+Business Media, Inc.
引用
收藏
页码：297 / 307
页数：10
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