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CLF-Based Control Design for Unknown Multiinput Nonlinear Systems With Good Transient Performance

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1 Author(s)
Elias B. Kosmatopoulos ; Dept. of Mech. Eng., Univ. of Delaware, Newark, DE, USA

This technical note tackles the problem of constructing state-feedback stabilizers that guarantee good transient closed-loop performance when applied to general unknown nonlinear multiinput state-feedback stabilizable systems. An adaptive Control Lyapunov Function-based control scheme is proposed in order to address this problem. Mathematical analysis establishes that the proposed control scheme guarantees good closed-loop transient performance outside the regions where the system is uncontrollable, provided the controlled system admits a controllability-like property.

Published in:

IEEE Transactions on Automatic Control  (Volume:55 ,  Issue: 11 )