论文标题
通过反向替代的协同Lyapunov功能和混合反馈设计的进一步结果
Further results on synergistic Lyapunov functions and hybrid feedback design through backstepping
论文作者
论文摘要
我们通过以广义形式利用协同的Lyapunov功能和反馈（SLFF）对来扩展结果。与现有结果相比，我们描述了现成的SLFF对，并且不需要额外的动态变量来进行反击。从仿射控制系统的（弱）SLFF对，我们为扩展系统构建了一个SLFF对，在该系统中通过集成器生成控件输入。当原始系统的协同差距严格为正时，产生的混合反馈渐近地稳定了扩展系统。为了强调SLFF对的多功能性，我们每当存在混合反馈稳定器时就会为SLFF对的存在提供结果。结果在3D摆上说明。
We extend results on backstepping hybrid feedbacks by exploiting synergistic Lyapunov function and feedback (SLFF) pairs in a generalized form. Compared to existing results, we delineate SLFF pairs that are ready-made and do not require extra dynamic variables for backstepping. From an (weak) SLFF pair for an affine control system, we construct an SLFF pair for an extended system where the control input is produced through an integrator. The resulting hybrid feedback asymptotically stabilizes the extended system when the synergy gap for the original system is strictly positive. To highlight the versatility of SLFF pairs, we provide a result on the existence of a SLFF pair whenever a hybrid feedback stabilizer exists. The results are illustrated on the 3D pendulum.
