Title :
Piecewise Lyapunov Functions to the Stability Analysis of Rational Systems subject to Multiple State Constraints
Author :
Coutinho, Daniel F. ; Danès, Patrick
Author_Institution :
Group of Autom. & Control Syst., PUCRS
Abstract :
This paper investigates the regional stability of uncertain rational systems subject to multiple state constraints. To this end, a piecewise biquadratic Lyapunov function is considered to estimate the basin of attraction as an alternative to more complex polynomial Lyapunov functions. A 2-degree of freedom visual servo control system illustrates the approach
Keywords :
Lyapunov methods; stability; uncertain systems; visual servoing; 2-degree of freedom visual servo control system; multiple state constraints; piecewise biquadratic Lyapunov function; polynomial Lyapunov functions; stability analysis; uncertain rational system; Control system synthesis; Control systems; Feedback control; Linear matrix inequalities; Lyapunov method; Polynomials; Robotics and automation; Servosystems; Stability analysis; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377086
