Stabilization of affine systems with polytopic control value sets
Horacio Leyva, B. Aguirre-Hern\'andez, Jes\'us F. Espinoza
TL;DR
This paper presents a method for designing continuous feedback controls to achieve global asymptotic stabilization of affine systems with control inputs constrained within polytopic sets, using CLF theory and normalization techniques.
Contribution
It introduces a novel approach to stabilize affine systems with polytopic control constraints through a feedback design based on CLF theory and normalization.
Findings
Effective stabilization within control value sets
Feedback function designed via CLF theory
Continuous stabilizer obtained through normalization
Abstract
The objective of this document is to design continuous feedback controls for global asymptotic stabilization (GAS) of affine systems, with control restricted to a compact and convex set (CVS). This stabilization problem is solved based on a design of a feedback function restricted to the hyperbox and obtained by means of the CLF theory. By "normalizing" this feedback, the continuous stabilizer restricted to CVS is obtained.
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Taxonomy
TopicsStability and Controllability of Differential Equations · Stability and Control of Uncertain Systems · Control and Stability of Dynamical Systems