ESTABILIZACIÓN GLOBAL CLF DE SISTEMAS CON ENTRADAS DE CONTROL RESTRINGIDAS A UN CONJUNTO COMPACTO (GLOBAL CLF STABILIZATION OF SYSTEMS WITH CONTROL INPUTS CONSTRAINED TO A COMPACT SET)
Resumen
El objetivo de este documento es diseñar controles de retroalimentación continuos para la estabilización asintótica global (GAS) de sistemas afines, con control restringido a un conjunto (CVS) compacto y convexo. Se resuelve este problema de estabilización con base a un diseño de una función de retroalimentación restringida a la hipercaja y obtenida mediante la teoría CLF. Mediante una "normalización" de esta retroalimentación se obtiene el estabilizador continuo restringido al CVS.
Palabras Clave: Estabilización, función admisible, función Lyapunov.
Abstract
The objective of this document is to design continuous feedback controls for global asymptotic stabilization (GAS) of affine systems, with control restricted to a compact and convex set (CVS). This stabilization problem is solved based on a design of a feedback function restricted to the hyperbox and obtained by means of the CLF theory. By "normalizing" this feedback, the continuous stabilizer restricted to CVS is obtained.
Keywords: Stabilization, Admissible function, Lyapunov function.
Texto completo:
578-591 PDFReferencias
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