2009 Fiscal Year Final Research Report
Nonlinear controller design based on control Lyapunov functions
| Project/Area Number |
19569004
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nara Institute of Science and Technology |
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Principal Investigator |
NAKAMURA Nami Nara Institute of Science and Technology, 情報科学研究科, 助教 (30452527)
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| Project Period (FY) |
2007 – 2009
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| Keywords | 非線形制御理論 / 制御Lyapunov関数 / 入力制約 / 逆最適制御 / 同次システム / 座標変換 / 収束速度 / セクタ余裕 |
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| Research Abstract |
We have proposed an asymptotically stabilizing controller and an adaptive controller for input affine nonlinear systems with convex input constraints by using given control Lyapunov functions. We have designed a global inverse optimal controller with local homogeneity for locally homogeneous input affine nonlinear systems by using locally homogeneous control Lyapunov functions. The proposed controller guarantees the local convergence rates and sector margins. We have clarified that local convergence rates and sector margins are invariant under coordinate transformations. We have proposed a global inverse optimal controller that is LQ optimal in a small neighborhood of the origin.
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Research Products
(20 results)
