A universal construction of Artstein's theorem on nonlinear stabilization
Systems & Control Letters
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Control of systems integrating logic, dynamics, and constraints
Automatica (Journal of IFAC)
Synthesis of Trajectory-Dependent Control Lyapunov Functions by a Single Linear Program
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Stabilization of Finite Automata with Application to Hybrid Systems Control
Discrete Event Dynamic Systems
Hybrid control lyapunov functions for the stabilization of hybridsystems
Proceedings of the 16th international conference on Hybrid systems: computation and control
Temporal logic model predictive control for discrete-time systems
Proceedings of the 16th international conference on Hybrid systems: computation and control
LTL receding horizon control for finite deterministic systems
Automatica (Journal of IFAC)
| Hi-index | 0.00 |
In this paper we consider the stabilization of hybrid systems with both continuous and discrete dynamics via predictive control. To deal with the presence of discrete dynamics we adopt a "hybrid" control Lyapunov function approach, which consists of using two different functions. A Lyapunov-like function is designed to ensure finite-time convergence of the discrete state to a target value, while asymptotic stability of the continuous state is guaranteed via a classical local control Lyapunov function. We show that by combining these two functions in a proper manner it is no longer necessary that the control Lyapunov function for the continuous dynamics decreases at each time step. This leads to a significant reduction of conservativeness in contrast with classical Lyapunov based predictive control. Furthermore, the proposed approach also leads to a reduction of the horizon length needed for recursive feasibility with respect to standard predictive control approaches.