Control Lyapunov Function-based Practical Stability Assist Control

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  • AOKI Haruto
    Graduate School of Science and Technology, Tokyo University of Science
  • NAKAMURA Hisakazu
    Graduate School of Science and Technology, Tokyo University of Science

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Other Title
  • 制御Lyapunov関数に基づく実用安定性アシスト制御

Abstract

<p>Control Lyapunov function-based practical stability assist control is classified in human assist control that is minimal under a certain constraint using control Lyapunov function. We show a relationship between the practical stability assist control and ρ stability; a global version of a practical stability with the name σ → ρ stability. We confirm the effectiveness of the proposed assist control by computer simulation.</p>

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