论文标题
基于CLF的混合动力学系统的控制
CLF-Based Control for Hybrid Dynamical Systems
论文作者
论文摘要
提出了混合动力学系统的最小规范控制定律。混合系统由微分方程给出，捕获连续的动力学或流动，以及捕获离散动力学或跳跃的差异方程式。提出的控制定律定义为从确保对照lyapunov函数降低的一组输入中的最小规范选择。考虑到流动和跳跃期间的单个和共同输入的情况，以及当输入通过系统动力学之一输入的情况。示例说明了结果。
Pointwise minimum norm control laws for hybrid dynamical systems are proposed. Hybrid systems are given by differential equations capturing the continuous dynamics or flows, and by difference equations capturing the discrete dynamics or jumps. The proposed control laws are defined as the pointwise minimum norm selection from the set of inputs guaranteeing a decrease of a control Lyapunov function. The cases of individual and common inputs during flows and jumps, as well as when inputs enter through one of the system dynamics, are considered. Examples illustrate the results.
