A family of piecewise affine control Lyapunov functions

Abstract : This paper presents a novel method to construct a family of piecewise affine control Lyapunov functions. Unlike most of existing methods which require the contractivity of their domain of definition, the proposed control Lyapunov functions are defined over a so-called N −step controllable set, which is known not to be contractive. Accordingly, a robust control design procedure is presented which only requires solving a linear programming problem at each sampling time. The construction is finally illustrated via a numerical example.
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Submitted on : Wednesday, January 24, 2018 - 7:48:55 PM
Last modification on : Thursday, February 7, 2019 - 4:10:19 PM
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Ngoc Anh Nguyen, Sorin Olaru. A family of piecewise affine control Lyapunov functions. Automatica, Elsevier, 2018, 90, pp.212-219. ⟨10.1016/j.automatica.2017.12.052 ⟩. ⟨hal-01692257⟩

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