This paper proposes a dynamic controller structure and a systematic design procedure for stabilizing discrete-time hybrid systems. The proposed approach is based on the concept of control Lyapunov functions (CLFs), which, when available, can be used to design a stabilizing state-feedback control law. In general, the construction of a CLF for hybrid dynamical systems involving both continuous and discrete states is extremely complicated, especially in the presence of non-trivial discrete dynamics. Therefore, we introduce the novel concept of a hybrid control Lyapunov function, which allows the compositional design of a discrete and a continuous part of the CLF, and we formally prove that the existence of a hybrid CLF guarantees the existence of a classical CLF. A constructive procedure is provided to synthesize a hybrid CLF, by expanding the dynamics of the hybrid system with a specific controller dynamics. We show that this synthesis procedure leads to a dynamic controller that can be implemented by a receding horizon control strategy, and that the associated optimization problem is numerically tractable for a fairly general class of hybrid systems, useful in real world applications. Compared to classical hybrid receding horizon control algorithms, the proposed approach typically requires a shorter prediction horizon to guarantee asymptotic stability of the closed-loop system, which yields a reduction of the computational burden, as illustrated through two examples.


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    Titel :

    Stabilizing dynamic controllers for hybrid systems : a hybrid control lyapunov function approach


    Beteiligte:
    Di Cairano, S. (Autor:in) / Heemels, W.P.M.H. (Autor:in) / Lazar, M. (Autor:in) / Bemporad, A. (Autor:in)

    Erscheinungsdatum :

    2014-01-01


    Anmerkungen:

    Di Cairano , S , Heemels , W P M H , Lazar , M & Bemporad , A 2014 , ' Stabilizing dynamic controllers for hybrid systems : a hybrid control lyapunov function approach ' , IEEE Transactions on Automatic Control , vol. 59 , no. 10 , pp. 2629-2643 . https://doi.org/10.1109/TAC.2014.2324111



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



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