Академический Документы
Профессиональный Документы
Культура Документы
Lecture # 30
Stabilization
p. 1/1
x = f (x) + g(x)u, f (0) = 0, x Rn , u R
x = f (x) + g(x)(x)
is asymptotically stable
V
[f (x) + g(x)u] < 0
x
Small Control Property
p. 3/1
Definition: A continuously differentiable positive definite
function V (x) is a Control Lyapunov Function (CLF) for the
system x = f (x) + g(x)u if
V V
g(x) = 0 for x D, x 6= 0 f (x) < 0 ()
x x
it satisfies the small control property
It is a Global Control Lyapunov Function if it is radially
unbounded and () holds with D = Rn
Sontags Formula
p. 5/1
Proof: For properties of , see Section 9.4 of [88]
V
[f (x) + g(x)(x)]
x
V V
If g(x) = 0, V = f (x) < 0 for x 6= 0
x x
V
If g(x) 6= 0
x
" r #
2 4
V V V V
V = x f x f + x f + x g
r 2 4
V V
= x f + x g < 0 for x 6= 0
p. 6/1
How can we find a CLF?
Backstepping
p. 7/1
Example:
x = ax bx3 + u, a, b > 0
Feedback Linearization:
u = ax + bx3 kx (k > 0)
x = kx
V (x) = 12 x2 is a CLF
V V
g = x, f = x(ax bx3 )
x x
p. 8/1
r 2 4
V V V
x f + x f + x g
V
x g
p
x(ax bx3 ) + x2 (ax bx3 )2 + x4
=
x
q
= ax + bx3 x (a bx2 )2 + 1
q
(x) = ax + bx3 x (a bx2 )2 + 1
Compare with
ax + bx3 kx
p. 9/1
Method Expression
FL-u ax + bx3 kx
FL-CLS x = kx
p
CLF-u 3
ax + bx x (a bx2 )2 + 1
p
CLF-CLS x (a bx2 )2 + 1
p. 10/1
Lemma: Let V (x) be a CLF for x = f (x) + g(x)u and
suppose V x (0) = 0. Then, Sontags formula has a gain
margin [ 12 , ); that is, u = k(x) is stabilizing for all k 1
2
Proof: Let
s
2 4
V V V
1
q(x) = 2
f+ f + g
x x x
V
q(0) = 0, g 6= 0 q > 0
x
V V
g=0 q= f > 0 for x 6= 0
x x
q(x) is positive definite
p. 11/1
u = k(x) x = f (x) + g(x)k(x)
V V
V = f+ gk
x x
V V
g = 0 V = f < 0 for x 6= 0
x x
V V V
g 6= 0, V = q + q + f+ gk
x x x
V V
q+ f+
gk
x x
s
2 4
1 V V V
= k2 f+ f + g
x x x
p. 12/1