Nonsmooth stabilization and its computational aspects
Optimization and Control
2020-07-03 v2 Dynamical Systems
Abstract
This work has the goal of briefly surveying some key stabilization techniques for general nonlinear systems, for which, as it is well known, a smooth control Lyapunov function may fail to exist. A general overview of the situation with smooth and nonsmooth stabilization is provided, followed by a concise summary of basic tools and techniques, including general stabilization, sliding-mode control and nonsmooth backstepping. Their presentation is accompanied with examples. The survey is concluded with some remarks on computational aspects related to determination of sampling times and control actions.
Cite
@article{arxiv.2006.14013,
title = {Nonsmooth stabilization and its computational aspects},
author = {Pavel Osinenko and Patrick Schmidt and Stefan Streif},
journal= {arXiv preprint arXiv:2006.14013},
year = {2020}
}
Comments
Submitted to IFAC 2020