Fast Evaluation of Quadratic Control-Lyapunov Policy

Abstract

The evaluation of a control-Lyapunov policy, with quadratic Lyapunov function, requires the solution of a quadratic program (QP) at each time step. For small problems this QP can be solved explicitly; for larger problems an online optimization method can be used. For this reason the control-Lyapunov control policy is considered a computationally intensive… (More)
DOI: 10.1109/TCST.2010.2056371

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