Lyapunov Redesign Min-Max Approach Lecture Notes by B.

Yao


Lyapunov Redesign Min-Max Approach

System
( , ) ( , )[ ( , , )] x f t x G t x u t x u o = + +

(M1)
where , , and
n p
x R u R f G e e are known, and
p
R o e represents matched
model uncertainties.
Assumptions:
A1. The origin of the nominal closed-loop system with ( , ) u t x _ =
( , ) ( , ) ( , ) x f t x G t x t x _ = +

(M2)
is uniformly asymptotically stable.
A2. We know a Lyapunov function for (M2), i.e., we have a continuously
differentiable function ( , ) V t x that satisfies the inequalities:

( ) ( )
1 2
( , ) x V t x x o o s s

| | ( )
3
V V
f G x
t x
_ o
c c
+ + s
c c
(M3)
where
1 2 3
, , and o o o are class K functions.
A3. With ( , ) , u t x v _ = + the matched uncertain term o is bounded by
( , , ) ( , ) , 0 1
o o
t x v t x v o _ k k + s + s < (M4)
where is a known non-negative continuous function.
Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao


Objective
Design an additional feedback control v such that the overall control
u v _ = + stabilizes the actual system (M1) in the presence of uncertainties.
Solution
The derivative of V in A2 along the trajectories of the actual system (M1) is:

| |
V V
V f G Gv G
t x
_ o
c c
= + + + +
c c

(M5)

Noting (M3) and letting
T
V
w G
x
c
=
c
where :
p
w R e

3
( ) ( )
T
V x w v o o s + +

(M6)

Thus 0 V <

if we can pick up v such that

( ) 0
T
w v o + s (M7)

which can be done as follows if discontinuous control laws are allowed.




Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao



Case 1: (M4) is satisfied for
2

In this case, let

2
2
( , )
w
v t x v
w
q q = = (M8)
where ( , ) t x q is a scalar bounding function to be determined. Then,


2 2 2 2
( ) ( , )
T T
w v t x w w w w o q o q o + = + s +

( )
2 2 2
( , )
o
w w t x v q k s + +

2 2
(1 ) 0
o
w w q k = + s (M9)
if

1
o

q
k
>

(M10)
Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao


Case 2: (M4) is satisfied for

(i.e., component wise).

In this case, let

1
sgn( )
( , )sgn( ), sgn( )
sgn( )
p
w
v t x w w
w
q
(
(
= =
(
(

(M11)
where q is a bounding function to be determined. Then, v q

= and

( )
1 1 1
1
( )
p
T
i i i
i
w v w w w w w o q o q o q o

=
+ = + s + =

( )
1
o
v w q k

s

( )
1
1 0
o
w k q ( = s

(M12)
if

1
( , ) ( , )
1
o
t x t x q
k
>

(M13)
With the above discontinuous control law,
( )
3
V x o s

and the origin is

uniformly asymptotically stable. However, the same as in the SMC, control
input chattering will occur in implementation. To avoid this practical problem,
Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao


as well as the theoretical question of the existence of the solution due to the
use of discontinuous controls, let us consider the following continuous
feedback law for (M8) instead:

2
2
2
2
( , ) if ( , )
( , ) ( , )
w
t x t x w
w
v
w
t x t x w
q q c
q q c
c

>

<

(M14)

With (M14), when
2
w q c > , (M9) is satisfied and thus from (M6):

( )
3
V x o s

(M15)
When
2
w q c < , (M6) becomes:

( )
2
2
2
3
T
w
V x w o q o
c
s +

( ) ( ) ( )
2
3
2 2 2
1
o
x w w v o q k
c
s + +

( ) ( )
( )
2
3
2 2
1
1
o
x w w o k q
c
= +
Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao



( ) ( )
2
3
2
1 1 1
1
2 4
o
x w o k q c c
c

| |
s
`
|
\ .

)


( ) ( )
3
1
1
4
o
x o k c s + (M16)
Therefore, for any (t, x), (M15) and (M16) imply that

( )
3
1
4
o
V x
k
o c

s +

(M17)
Thus,

( )
1
3 3
1 1
2 2
o o
x x
k k
o c o c

| |
> = >
|
\ .

and

( )
3
1
2
V x o s

(M18)
By Theorem L.17, the solutions are uniformly ultimately bounded (UUB),
i.e., there exists a finite time to such that the solution is bounded above by:



Lyapunov Redesign Min-Max Approach Lecture Notes by B.Yao



( )
1
, ,
o o o
x x t t t t t | s s <

( )
1 1 1
1 2 1 2 3 1
1
( ) ,
2
o
x t t
k
o o o o o c

| |
| |
| |
s = >
| |
|
\ .
\ .
\ .
(M19)
where | is a class KL function. Note that the bound of the steady-state
error in (M19) is proportional to c and, theoretically, can be made arbitrarily
small by showing a small enough c . However, too small c will essentially
lead to the same control input chattering problem as the original
discontinuous control law due to the negated high frequency dynamics.