Robust constrained model predictive control using linear matrix inequalities
Automatica (Journal of IFAC)
Behavior Based Robotics Using Hybrid Automata
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Approximate Reachability Analysis of Piecewise-Linear Dynamical Systems
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
LICS '96 Proceedings of the 11th Annual IEEE Symposium on Logic in Computer Science
SIAM Journal on Control and Optimization
A Control Lyapunov Approach to Predictive Control of Hybrid Systems
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Approximate reachability computation for polynomial systems
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Modeling, optimization and computation for software verification
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Control of systems integrating logic, dynamics, and constraints
Automatica (Journal of IFAC)
Brief Equivalence of hybrid dynamical models
Automatica (Journal of IFAC)
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The design of stabilizing controllers for hybrid systems is particularly challenging due to the heterogeneity present within the system itself. In this paper we propose a constructive procedure to design stabilizing dynamic controllers for a fairly general class of hybrid systems. The proposed technique is based on the concept of a hybrid control Lyapunov function (hybrid CLF) that was previously introduced by the authors. In this paper we generalize the concept of hybrid control Lyapunov function, and we show that the existence of a hybrid CLF guarantees the existence of a standard control Lyapunov function (CLF) for the hybrid system. We provide a constructive procedure to design a hybrid CLF and the corresponding dynamic control law, which is stabilizing because of the established connection to a standard CLF that becomes a Lyapunov function for the closed-loop system. The obtained control law can be conveniently implemented by constrained predictive control in the form of a receding horizon control strategy. A numerical example highlighting the features of the proposed approach is presented.