Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 54, Issue 9, Pages 2271-2275Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2009.2026865
Keywords
Control Lyapunov function; homogeneous system; nonlinear systems; optimal control; stability of nonlinear systems
Funding
- [19569004]
- [19760288]
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Dilated homogeneous systems are local canonical forms of nonlinear control systems. For input affine homogeneous systems, existence of continuous homogeneous stabilizing controllers is equivalent to existence of differentiable homogeneous control Lyapunov functions. In this technical note, we propose an homogeneous stabilizing controller and an homogeneous inverse optimal controller for multi-input affine homogeneous systems with given homogeneous control Lyapunov functions.
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