Research output: Contribution to journal › Article › peer-review
A nonsmooth extension of the speed-gradient algorithms in finite form is proposed. The conditions ensuring control goal (convergence of the goal function to zero) are established. A new algorithm is applied to almost global stabilization of the Brockett integrator that has become a popular benchmark for nonsmooth and discontinuous algorithms. It is proved that the designed control law stabilizes the Brockett integrator for any initial point that does not lie on the x3-axis. Besides, it is shown that the speed-gradient algorithm ensures stabilization with an arbitrarily small control level. An important feature of the proposed control is the fact that it is continuous along trajectories of the closed-loop system.
Original language | English |
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Pages (from-to) | 2116-2131 |
Number of pages | 16 |
Journal | SIAM Journal on Control and Optimization |
Volume | 54 |
Issue number | 4 |
DOIs | |
State | Published - 2016 |
ID: 7582163