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Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2010

Uniting two Control Lyapunov Functions for affine systems (full version)

Résumé

The problem of piecing together two Control Lyapunov Functions (CLFs) is addressed. The first CLF characterizes a local asymptotic controllability property toward the origin, whereas the second CLF is related to a global asymptotic controllability property with respect to a compact set. A sufficient condition is expressed to obtain an explicit solution. This sufficient condition is shown to be always satisfied for a linear second order controllable system. In a second part, it is shown how this uniting CLF problem can be used to solve the problem of piecing together two stabilizing control laws. Finally, this framework is applied on a numerical example to improve local performance of a globally stabilizing state feedback. Note that this paper is the full version of a paper submitted to IEEE TAC.
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Dates et versions

hal-00432607 , version 1 (16-11-2009)
hal-00432607 , version 2 (12-03-2010)

Identifiants

Citer

Vincent Andrieu, Christophe Prieur. Uniting two Control Lyapunov Functions for affine systems (full version). IEEE Transactions on Automatic Control, 2010, 55 (8), pp.1923-1927. ⟨10.1109/TAC.2010.2049689⟩. ⟨hal-00432607v2⟩
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