论文标题
有限的分段仿射系统的系统稳定
Systematic Stabilization of Constrained Piecewise Affine Systems
论文作者
论文摘要
本文提出了一种有效的离线方法，可以同时合成控制器，并寻求闭环Lyapunov功能，以在可允许状态的三角形子集上进行约束的分段仿射系统。三角调整探索了丰富的控制器和Lyapunov功能。由于发现了显式Lipschitz lyapunov函数，因此获得了吸引力的闭环区域的不变子集。此外，它是控制Lyapunov功能，因此可以通过在线二次编程来实现最小值控制器。它被配制为一系列半明确程序。该方法避免了计算繁重的非凸优化和典型的现有方法的A-Priori设计选择。
This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states. Triangulation refinements explore a rich class of controllers and Lyapunov functions. Since an explicit Lipschitz Lyapunov function is found, an invariant subset of the closed-loop region of attraction is obtained. Moreover, it is a control Lyapunov function, so minimum-norm controllers can be realized through online quadratic programming. It is formulated as a sequence of semi-definite programs. The method avoids computationally burdensome non-convex optimizations and a-priori design choices that are typical of similar existing methods.
