Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise
Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state spa...
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2025-01-01
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| author | Patrick Schmidt Pavel Osinenko Stefan Streif |
| author_facet | Patrick Schmidt Pavel Osinenko Stefan Streif |
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| description | Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in two examples. |
| format | Article |
| id | doaj-art-3e52a80dd4ad4c5db8c5a682b01448d9 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| spelling | doaj-art-3e52a80dd4ad4c5db8c5a682b01448d92025-01-10T00:02:11ZengIEEEIEEE Access2169-35362025-01-01131882189510.1109/ACCESS.2024.352104810811890Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement NoisePatrick Schmidt0https://orcid.org/0000-0002-3161-4094Pavel Osinenko1https://orcid.org/0000-0002-6184-3293Stefan Streif2https://orcid.org/0000-0002-3398-1226Automatic Control and System Dynamics Laboratory, Technische Universität Chemnitz, Chemnitz, GermanySkolkovo Institute of Science and Technology, Moscow, RussiaAutomatic Control and System Dynamics Laboratory, Technische Universität Chemnitz, Chemnitz, GermanyPractical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in two examples.https://ieeexplore.ieee.org/document/10811890/Control Lyapunov functionmeasurement noisepractical stabilizationself-triggered control |
| spellingShingle | Patrick Schmidt Pavel Osinenko Stefan Streif Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise IEEE Access Control Lyapunov function measurement noise practical stabilization self-triggered control |
| title | Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise |
| title_full | Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise |
| title_fullStr | Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise |
| title_full_unstemmed | Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise |
| title_short | Some Remarks on Practical Stabilization via CLF-Based Control Under Measurement Noise |
| title_sort | some remarks on practical stabilization via clf based control under measurement noise |
| topic | Control Lyapunov function measurement noise practical stabilization self-triggered control |
| url | https://ieeexplore.ieee.org/document/10811890/ |
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