Control Lyapunov functions: new ideas from an old source

A control design method for nonlinear systems based on control Lyapunov functions and inverse optimality is analyzed. This method is shown to recover the LQ optimal control when applied to linear systems. More generally, it is shown to recover the optimal control whenever the level sets of the contr...

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Bibliographic Details
Published inProceedings of 35th IEEE Conference on Decision and Control Vol. 4; pp. 3926 - 3931 vol.4
Main Authors Freeman, R.A., Primbs, J.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Control design
Control systems
Cost function
Equations
Linear systems
Lyapunov method
Nonlinear control systems
Nonlinear systems
Optimal control
State feedback
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Summary:A control design method for nonlinear systems based on control Lyapunov functions and inverse optimality is analyzed. This method is shown to recover the LQ optimal control when applied to linear systems. More generally, it is shown to recover the optimal control whenever the level sets of the control Lyapunov function match those of the optimal value function. The method can be readily applied to feedback linearizable systems, and the resulting inverse optimal control law is generally much different from the linearizing control law. Examples in two dimensions are given to illustrate both the strengths and the weaknesses of the method.
ISBN:9780780335905
0780335902
ISSN:0191-2216
DOI:10.1109/CDC.1996.577294