|
|||||
|
|
Asymptotic stabilization with locally semiconcave control Lyapunov functions on general manifolds |
|
| Authors: | Hisakazu Nakamura Takayuki Tsuzuki Yoshiro Fukui Nami Nakamura |
| Affiliation: | 1. Department of Electrical Engineering, Faculty of Science and Technology, Tokyo University of Science, Yamazaki 2641, Noda, Japan;2. Interdisciplinary Faculty of Science and Engineering, Shimane University, 1060 Nishikawatsu, Matsue, Japan;3. Ritsumeikan Global Innovation Research Organization (R-GIRO), Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga, Japan |
| Abstract: | Asymptotic stabilization on noncontractible manifolds is a difficult control problem. If a configuration space is not a contractible manifold, we need to design a time-varying or discontinuous state feedback control for asymptotic stabilization at the desired equilibrium. |
| Keywords: | Discontinuous control Control Lyapunov function Nonlinear system Stabilization Manifold |
| 本文献已被 ScienceDirect 等数据库收录！ | |