Some remarks on practical stabilization via CLF-based control under measurement noise
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866915104550813696 |
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| author | Schmidt, Patrick Osinenko, Pavel Streif, Stefan |
| author_facet | Schmidt, Patrick Osinenko, Pavel Streif, Stefan |
| contents | 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 three examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_08688 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Some remarks on practical stabilization via CLF-based control under measurement noise Schmidt, Patrick Osinenko, Pavel Streif, Stefan Systems and Control Optimization and Control 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 three examples. |
| title | Some remarks on practical stabilization via CLF-based control under measurement noise |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2501.08688 |