Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
Seeking Control Lyapunov-Morse Functions Using Genetic Programming for Global Asymptotical Stabilization of Nonlinear Systems
Takayuki TSUZUKIKousuke KUWADAYuh YAMASHITA
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2007 Volume 43 Issue 2 Pages 85-92

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Abstract

The purpose of this paper is searching for control Lyapunov-Morse functions (CLMF) using genetic programming (GP) for input-affine systems on general manifolds. The CLMF is an extended control Lyapunov function (CLF) to have multiple critical points. It is shown that a continuous global stabilizer is derived from a CLF for the system. A discontinuous global asymptotic stabilizer is obtained from a CLMF as well as CLF. However, there is no method constructing CLMF systematically. Then, we propose a method of searching for CLMF via GP to design the global asymptotic stabilizer.

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