Maximum hands-off feedback control for finite-time stabilization
説明
This work proposes a way to time-sparsify predesigned stabilizing feedback controls. For this purpose, a finite-time stabilizing sliding-mode feedback control law is considered. For the finite-time stabilizing controller, an on- off switching signal is designed to optimally time-sparsify the feedback control signals. Due to the non-Lipschitz nature of the sliding-mode controller, this requires the use of a non-smooth Pontryagin Maximum Principle. Numerical experiments are presented to verify the theoretical results and illustrate the advantages of the proposed ideas.
収録刊行物
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- 2020 59th IEEE Conference on Decision and Control (CDC)
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2020 59th IEEE Conference on Decision and Control (CDC) 3969-3974, 2020-12-14
IEEE