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Stabilizing Dynamic Controllers for Hybrid Systems: A Hybrid Control Lyapunov Function Approach.
- Source :
-
IEEE Transactions on Automatic Control . Oct2014, Vol. 59 Issue 10, p2629-2643. 15p. - Publication Year :
- 2014
-
Abstract
- This paper proposes a dynamic controller structure and a systematic design procedure for stabilizing discrete-time hybrid systems. The proposed approach is based on the concept of control Lyapunov functions (CLFs), which, when available, can be used to design a stabilizing state-feedback control law. In general, the construction of a CLF for hybrid dynamical systems involving both continuous and discrete states is extremely complicated, especially in the presence of non-trivial discrete dynamics. Therefore, we introduce the novel concept of a hybrid control Lyapunov function, which allows the compositional design of a discrete and a continuous part of the CLF, and we formally prove that the existence of a hybrid CLF guarantees the existence of a classical CLF. A constructive procedure is provided to synthesize a hybrid CLF, by expanding the dynamics of the hybrid system with a specific controller dynamics. We show that this synthesis procedure leads to a dynamic controller that can be implemented by a receding horizon control strategy, and that the associated optimization problem is numerically tractable for a fairly general class of hybrid systems, useful in real world applications. Compared to classical hybrid receding horizon control algorithms, the proposed approach typically requires a shorter prediction horizon to guarantee asymptotic stability of the closed-loop system, which yields a reduction of the computational burden, as illustrated through two examples. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 59
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 98500998
- Full Text :
- https://doi.org/10.1109/TAC.2014.2324111