TY  - CHAP
ID  - eprints514
TI  - A control Lyapunov approach to predictive control of hybrid systems
AV  - none
M1  - 4981
N2  - 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.
ED  - Egerstedt, Magnus 
ED  - Mishra, Bud 
UR  - http://dx.doi.org/10.1007/978-3-540-78929-1_10
SN  - 9783540789284
PB  - Springer-Verlag
EP  - 143
T2  - Hybrid Systems: Computation and Control 
A1  - Di Cairano, Stefano
A1  - Lazar, Mircea
A1  - Bemporad, Alberto
A1  - Heemels, W.P.M.H.
Y1  - 2008///
SP  - 130
ER  -