Smooth patchy control Lyapunov functions
Résumé
A smooth patchy control Lyapunov function for a nonlinear system consists of an ordered family of smooth local control Lyapunov functions, whose open domains form a locally finite cover of the state space of the system, and which satisfy certain further increase or decrease conditions. We prove that such a control Lyapunov function exists for any asymptotically controllable nonlinear system. We also show a construction, based on such a control Lyapunov function, of a stabilizing hybrid feedback that is robust to measurement noise.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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