Nearest Neighbor Control For Practical Stabilization of Passive Nonlinear Systems
| Autor: | Almuzakki, M. Z., Jayawardhana, B., Tanwani, A. |
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| Rok vydání: | 2020 |
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| Druh dokumentu: | Working Paper |
| DOI: | 10.1016/j.automatica.2022.110278 |
| Popis: | This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are working under the assumption that the system under consideration is large-time norm observable and the convex hull of the realizable control actions contains the target constant input (which corresponds to the equilibrium point) in its interior. We propose a nearest-neighbor based static feedback mapping from the output space to the finite set of control actions, that is able to practically stabilize the closed-loop systems. Consequently, we show that for such systems with $m$-dimensional input space, it is sufficient to have $m+1$ discrete input points (other than zero for general passive systems or the target constant input for incrementally passive systems). Furthermore, we present a constructive algorithm to design such $m+1$ nonzero input points that satisfy the conditions for practical stability using our proposed nearest-neighbor control. Comment: 13 pages, double-column, journal submission, revised version |
| Databáze: | arXiv |
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