Counterexample-guided stabilization of switched systems using control lyapunov functions
Pages 297 - 298
Abstract
In this project, we address the problem of synthesizing region-stabilizing controllers for switched systems. The plant model consists of a continuous-time switched system with finitely many switching modes. Our approach searches for a state-feedback that chooses between finitely many switching modes at each time instant: (a) guaranteeing a minimum dwell time between mode changes and (b) region stabilizing to a suitably small set around a given state.
First, we introduce a special class of control Lyapunov functions (CLF) for switched systems that yield switching controllers with a guaranteed minimum dwell time in each mode. After formulating the problem of finding such CLF as quantified exists-forall constraints, we employ a counter-example based inductive synthesis (CEGIS) approach to find a CLF with a given fixed template. We introduce a heuristic to increase the rate of convergence of the technique along with a relaxation to guarantee its eventual termination. We evaluate our approach on a set of benchmarks ranging from two to five state variables and compare the results with some of the existing approaches.
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Index Terms
- Counterexample-guided stabilization of switched systems using control lyapunov functions
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- IEEE-CSS: Control Systems Society
- SIGBED: ACM Special Interest Group on Embedded Systems
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Association for Computing Machinery
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Published: 14 April 2015
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HSCC '15
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- IEEE-CSS
- SIGBED
HSCC '15: 18th International Conference on Hybrid Systems: Computation and Control
April 14 - 16, 2015
Washington, Seattle
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