Control Lyapunov Function-based Practical Stability Assist Control

Abstract

Control Lyapunov function-based practical stability assist control is classified in human assist control that is minimal under a certain constraint using control Lyapunov function. We show a relationship between the practical stability assist control and ρ stability; a global version of a practical stability with the name σ → ρ stability. We confirm the effectiveness of the proposed assist control by computer simulation.