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Title:Nonlinear and switched systems: Geometric motion planning, non-monotonic Lyapunov functions and input-to-state stability
Author(s):Liu, Shenyu
Director of Research:Liberzon, Daniel
Doctoral Committee Chair(s):Liberzon, Daniel
Doctoral Committee Member(s):Belabbas, Mohamed-Ali; Zharnitsky, Vadim; Baryshnikov, Yuliy
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:Ph.D.
Genre:Dissertation
Subject(s):Nonlinear systems
switched systems
motion planning
Lyapunov approach
input-to-state stability
Abstract:Both synthesis of control strategy for motion planning and analysis of stability of nonlinear and switched systems have been researched in this work. In terms of control strategy, we propose a novel approach to the long-standing problem of motion planning for non-holonomic systems. The admissible motion is obtained by properly assigning "length" to the motion trajectories which penalizes them in the inadmissible directions, and "deforming" them in order to minimize the "length" via solving a set of parabolic partial differential equations. Several variations of the fundamental motion planning problem are also considered in this work. In terms of stability analysis, we have studied two approaches related to non-monotonic Lyapunov functions. More explicitly, the techniques of "almost Lyapunov" functions and higher order derivatives of Lyapunov functions -- which were used to study the stability of autonomous nonlinear systems in the literature -- are generalized to nonlinear systems with inputs. Under some mild assumptions, the nonlinear systems can be proven to be input-to-state stable using these techniques of non-monotonic Lyapunov functions. In addition, the methodology used in the derivation can also be used to show the equivalence between several stability properties of state-dependent switched systems.
Issue Date:2020-01-31
Type:Thesis
URI:http://hdl.handle.net/2142/107850
Rights Information:Copyright 2020 Shenyu Liu
Date Available in IDEALS:2020-08-26
Date Deposited:2020-05


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