标题： 关于在测量噪声下基于CLF的控制实用稳定性的备注 显示英文标题

标题： Some remarks on practical stabilization via CLF-based control under measurement noise

摘要： 输入仿射系统在存在测量误差和输入约束情况下的实际稳定性在本文中进行了考虑。 假设输入仿射系统存在一个李雅普诺夫函数和一个稳定控制，计算了状态空间中每一点所需的测量精度。 这是通过基于李雅普诺夫函数的衰减条件来实现的，该条件与输入约束一起描述了一组允许的控制。 随后，根据系统动力学计算测量时间点。 结果表明，在这些自触发测量时间点之间，系统演化并收敛到所谓的目标球，即原点的邻域，并保持在此区域内。 此外，结果表明该方法确保存在一种控制律，该控制律适用于所有可能的状态，并且在测量时间点、测量精度、目标球和衰减之间建立了一种联系。 该方法的结果通过三个示例进行了展示。 显示英文摘要

摘要： Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in three examples.