LP-Generated Control Lyapunov Functions With Application to Multicopter Control
Huu-Thinh Do,
Franco Blanchini,
Stefano Miani
et al.
Abstract:In this work, we study a technique of exploiting open-loop generated trajectories for a constrained control problem, using them to shape suitable non-quadratic Control Lyapunov Functions. These trajectories, generated off-line, allow detecting a suitable domain of attraction in which a candidate Lyapunov function has a negative derivative. Given a suitably constructed basis function, our working machinery is based on linear programming, hence, the technique can be applied to problems of non-trivial size in ter… Show more
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