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Multilayer Minimum Projection Method with Singular Point Assignment for Nonsmooth Control Lyapunov Function Design
Author(s) -
Nakamura Hisakazu,
Nakamura Nami
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.548
Subject(s) - merge (version control) , mathematics , manifold (fluid mechanics) , lyapunov function , projection (relational algebra) , projection method , point (geometry) , mathematical optimization , computer science , dykstra's projection algorithm , algorithm , geometry , nonlinear system , engineering , physics , mechanical engineering , quantum mechanics , information retrieval
Control Lyapunov function ( CLF ) design on a manifold is a difficult problem in control theory. To address this problem, we have proposed the multilayer minimum projection method. The method requires CLF s on different manifolds from the manifold where the control problem is defined. In this paper, we relax the requirement by desingularization of the functions on the manifolds. The paper focuses on the problem of desingularization in the multilayer minimum projection method. We show that the functions on other manifolds need not be CLF s by consideration of desingularization. Moreover, we propose a CLF design method by singular point assignment based on the advantage of desingularization. The method enables us to merge local CLF s into the global CLF . This paper proposes two CLF design methods: desingularization and singular point assignment. A CLF design example is provided for each method; the advantages of the proposed methods are confirmed by those two examples.