对应地,这里的李雅普诺夫函数就被称为控制李亚普诺夫函数(Control Lyapunov Function)。 事实上,控制李雅普诺夫函数(CLF)这个概念以及上述结论早在1983年就被Artstein[1]提了出来。对于Control affine系统,如下面的公式所示: x˙=f(x)+g(x)u CLF的条件一方面可以表示成: V˙(x,u)=∂V(x)∂xf(x)+∂...
3.2 CLF(Control Lyapunov Function)简介: 一个控制系统要稳定,我们有多种方式来证明,而其中Lyapunov是最广泛应用的证明方式之一。而Lyapunov的来源,对于控制科学的来说应该很熟,motivation源于系统能量,可以参考Prof. Khalil的书。这里直接给出Lyapunov Function的数学定义如下: \begin{array}{c} V(x) \\ \text {...
答案是：如果我们能够找到一个李亚普诺夫函数，保证[公式]，则平衡点就是渐近稳定的。对应地，这里的李雅普诺夫函数被称为控制李雅普诺夫函数（Control Lyapunov Function，简称CLF）。实际上，CLF这个概念以及上述结论早在1983年就被Artstein提出。对于Control affine系统，如下公式所示：[公式]CLF的条件一方面...
5) control Lyapunov function 控制李雅普诺夫函数 1. The Sontag-Type control based on the control Lyapunov function (CLF) is an important control law in robust stabilization of affine systems. 基于控制李雅普诺夫函数的Sontag_Type控制是仿射系统鲁棒镇定中的重要控制律。 2. Based on the technique ...
控制李雅普诺夫承数零状态可检测无源性输入到状态镇定The notion of control Lyapunov functions(CLF) , originated from relaxed Controls, is newly understood as the characterization of zero-state detectability property, thus the difference between the Sontag-type control and the passivity-based controller is...
3.The system controller design was based on acontrol Lyapunov function(CLF).通过一类控制Lyapunov函数来构造系统的控制器。 英文短句/例句 1.The construction of control Lyapunov functions for linear multivariable systems线性多变量系统的控制Lyapunov函数构造 ...
控制Lyapunov函数半全局镇定零动态The construction of control Lyapunov functions for affine nonlinear systems with zero dynamics is considered in this paper.A method is developed to ensure that a control Lyapunov function for the feedback linearizable part can be obtained by solving a Lyapunov equation....
弱控制Lyapunov函数 1. By exploiting the method ofweak control Lyapunov function,a time-vary Sontag-type controller was designed for nonlinear affine systems. 采用弱控制Lyapunov函数方法,对非线性仿射系统进行了时变Sontag型控制器设计。 2) control Lyapunov function ...
We show that any asymptotically controllable homogeneous control system admits a homogeneous control Lyapunov function. As a consequence, we obtain that any such system admits a stabilizing discontinuous sampled feedback, where the sampling rate is bounded from below depending on the degree of the homo...
控制李雅普诺夫函数(Control Lyapunov Function,CLF) 原始的李亚普诺夫函数是要判断动力系统是否稳定(更严格的要求是渐近稳定)。控制李亚普诺夫函数是判断系统是否可以回授稳定(feedback stabilizable),也就是针对每一个状态x,是否存在一控制输入u(x,t)可以将系统带回到原点。