多層最小射影法による局所半凹実用制御Lyapunov関数の設計

• 福井 善朗

  立命館大学情報理工学部

• 中村 文一

  東京理科大学理工学部

書誌事項

タイトル別名

• Design of Locally Semiconcave Practical Control Lyapunov Function via Multilayer Minimum Projection Method
• タソウ サイショウ シャエイホウ ニ ヨル キョクショ ハンオウジツヨウ セイギョ Lyapunov カンスウ ノ セッケイ

抄録

We proposed a Sontag-type feedback controller by using a locally semiconcave practical control Lyapunov function (LS-PCLF) for asymptotic stabilization of a nonlinear system defined on a non-contractible manifold. We also proposed a design method of a nonsmooth control Lyapunov function called the multilayer minimum projection method. However, whether the method can be used as an LS-PCLF design method is not discussed, and we cannot design a controller by using the method and the controller in this situation. In this paper, we study a disassembled differential of a locally semiconcave function to handle an LS-PCLF. The minimal and maximal disassemble differentials, which are special types of a disassembled differential, are introduced. We elucidate that a set of reachable gradients and the Fréchet differential are equivalent to the minimal and maximal disassembled differential, respectively. Based on this fact, we prove that this method can be used as an LS-PCLF design method.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 51 (12), 803-813, 2015

  公益社団法人 計測自動制御学会

キーワード

• nonlinear control
• control Lyapunov function
• locally semiconcave function

詳細情報

• CRID: 1390282679486610176
• NII論文ID: 130005114048
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr.51.803
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 027036872
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027036872
• Web Site: https://www.jstage.jst.go.jp/article/sicetr/51/12/51_803/_pdf
• 本文言語コード: ja
• データソース種別:
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• 抄録ライセンスフラグ: 使用不可