| 一类非线性系统控制Lyapunov函数的构造 |
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| 引用本文： | 蔡秀珊, 韩正之, 汪晓东. 一类非线性系统控制Lyapunov函数的构造. 自动化学报, 2006, 32(5): 796-799. |
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| 作者姓名： | 蔡秀珊 韩正之 汪晓东 |
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| 作者单位： | 1.College of Information Science and Engineering, Zhejiang Normal University, Jinhua 321004;;;2.Department of Automation, Shanghai Jiaotong University, Shanghai 200030 |
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| 基金项目： | Supported by Natural Science Foundation of Zhejiang Province P. R. China （Y105141）, Natural Science Foundation of Fujian Province P. R. China （A0510025）, and Technological Project of Zhejiang Education Department, P. R. China（20050291）. |
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| 摘 要： | The construction of control Lyapunov functions for a class of nonlinear systems is considered. We develop a method by which a control Lyapunov function for the feedback linearizable part can be constructed systematically via Lyapunov equation. Moreover, by a control Lyapunov function of the feedback linearizable part and a Lyapunov function of the zero dynamics, a control Lyapunov function for the overall nonlinear system is established.
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| 关 键 词： | Nonlinear systems control Lyapunov functions semiglobal stabilization zero dynamics |
| 收稿时间： | 2004-07-15 |
| 修稿时间： | 2006-04-19 |
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