Результаты исследований: Научные публикации в периодических изданиях › статья › Рецензирование
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.
Язык оригинала | Английский |
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Страницы (с-по) | 2116-2131 |
Число страниц | 16 |
Журнал | SIAM Journal on Control and Optimization |
Том | 54 |
Номер выпуска | 4 |
DOI | |
Состояние | Опубликовано - 2016 |
ID: 7582163