relation: http://eprints.imtlucca.it/514/
title: A control Lyapunov approach to predictive control of hybrid systems
creator: Di Cairano, Stefano
creator: Lazar, Mircea
creator: Bemporad, Alberto
creator: Heemels, W.P.M.H.
subject: QA75 Electronic computers. Computer science
description: In this paper we consider the stabilization of hybrid systems with both continuous and discrete dynamics via predictive control. To deal with the presence of discrete dynamics we adopt a “hybrid” control Lyapunov function approach, which consists of using two different functions.  A Lyapunov-like function is designed to ensure finite-time convergence of the discrete state to a target value, while asymptotic stability of the continuous state is guaranteed via a classical local control Lyapunov function. We show that by combining these two functions in a proper manner it is no longer necessary that the control Lyapunov function for the continuous dynamics decreases at each time step. This leads to a significant reduction of conservativeness in contrast with classical Lyapunov based predictive control. Furthermore, the proposed approach also leads  to a reduction of the horizon length needed for recursive feasibility with respect to standard predictive control approaches.
publisher: Springer-Verlag
contributor: Egerstedt, Magnus 
contributor: Mishra, Bud 
date: 2008
type: Book Section
type: PeerReviewed
identifier:   Di Cairano, Stefano and Lazar, Mircea and Bemporad, Alberto and Heemels, W.P.M.H.  A control Lyapunov approach to predictive control of hybrid systems.   In:  Hybrid Systems: Computation and Control.   Springer-Verlag, pp. 130-143.  ISBN 9783540789284      (2008)  
relation: http://dx.doi.org/10.1007/978-3-540-78929-1_10
relation: 10.1007/978-3-540-78929-1_10