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Control Lyapunov functions for homogeneous “Jurdjevic-Quinn” systems

Published online by Cambridge University Press:  15 August 2002

ludovic faubourg
Affiliation:
INRIA, BP. 93, 06902 Sophia Antipolis, France; [email protected].
jean-baptiste pomet
Affiliation:
INRIA, BP. 93, 06902 Sophia Antipolis, France; [email protected].
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Abstract

This paper presents a method to design explicit control Lyapunov functions for affine and homogeneous systems that satisfy the so-called “Jurdjevic-Quinn conditions”. For these systems a positive definite function V0 is known that can only be made non increasing by feedback. We describe how a control Lyapunov function can be obtained via a deformation of this “weak” Lyapunov function. Some examples are presented, and the linear quadratic situation is treated as an illustration.

Type
Research Article
Copyright
© EDP Sciences, SMAI, 2000

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