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A Bilevel Programming Approach to the Convergence Analysis of Control-Lyapunov Functions.
- Source :
- IEEE Transactions on Automatic Control; Oct2019, Vol. 64 Issue 10, p4174-4179, 6p
- Publication Year :
- 2019
-
Abstract
- This paper deals with the estimation of convergence rate and domain of attraction of control-Lyapunov functions in Lyapunov-based control. This pair of estimation problems has been considered only for input-affine systems with constraints on the input norm. In this paper, we propose a novel optimization framework to address the estimation of convergence rate and domain of attraction. Specifically, we formulate the estimation problems as min–max bilevel programs for the decay rate of the Lyapunov function, where the inner problem can be resolved using Karush–Kuhn–Tucker optimality conditions, and the resulting single-level programs can be transformed into and solved as mixed-integer nonlinear programs. The proposed approach is applicable to systems with input-nonaffinity or more general forms of input constraints under an input-convexity assumption. [ABSTRACT FROM AUTHOR]
- Subjects :
- BILEVEL programming
LYAPUNOV functions
LYAPUNOV stability
Subjects
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 10
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 138896379
- Full Text :
- https://doi.org/10.1109/TAC.2019.2892386