Asymptotic Controllability and Exponential Stabilization of Nonlinear Control Systems at Singular Points
discounted optimal control problemsdiscrete feedback controlinterrelation between controllability and stabilizationinverted pendulumLyapunov exponentsnonlinear control systemsrobustness of discrete feedback controlsingular pointsstabilization of nonlinear system by feedbackuniform exponential controllabiltiyuniform exponential stabilizability
The author studies the stabilization of nonlinear control systems on \(\mathbb R^d\times M\) given by \[ \dot x(t)=f(x(t),y(t),u(t)),\qquad \dot y(t)=g(y(t),u(t)), \] where \(x\in\mathbb R^d\) and \(y\in M\), \(M\) is a Riemannian manifold and \(f,g\) are vector fields which are \(C^2\) in \(x,\) Lipschitz in \(y,\) and continuous in \(u.\) The control function \(u(\cdot)\) may be chosen from the set \(\mathcal U:=\{u:\mathbb R\to U\mid u(\cdot)\) measurable\}, where \(U\subset\mathbb R^m\) is compact. The author's interest lies in the stabilization of the \(x\)-component at a singular point \(x^{*},\) i.e., a point where \(f(x^{*},y,u)=0\) for all \((y,u)\in M\times U.\) Such singular situations do typically occur if the control enters in the parameters of an uncontrolled system at a fixed point, for instance, when the restoring force of a nonlinear oscillator is controlled. By using a discrete feedback law, results on the relation between asymptotic controllability and exponential stabilization are developed and an equivalence theorem is derived. The construction of the feedback is obtained by minimizing the Lyapunov exponent of the linearized system. For semilinear systems, asymptotic null controllability and exponential stabilizability by a discrete feedback turn out to be equivalent. For general nonlinear systems the equivalence between uniform exponential controllability and uniform exponential stabilizability is shown. An example illustrates that uniform exponential controllability is in fact a necessary condition for the applicability of linearization techniques. The obtained results can be applied to the stabilization problem of an inverted pendulum for which the suspension point is moved up and down periodically and the period of this motion can be controlled.
- On the relation between discounted and average optimal value functions
- Optimal and Sub-optimal feedback controls for biogas production
- Linear programming formulations of deterministic infinite horizon optimal control problems in discrete time
- Linear programming formulation of long-run average optimal control problem
- Linear programming based optimality conditions and approximate solution of a deterministic infinite horizon discounted optimal control problem in discrete time
- Linear programming estimates for Cesàro and Abel limits of optimal values in optimal control problems
- Sufficient conditions to stabilize time-varying nonlinear sampled-data systems via approximation
- Spectral theory for perturbed systems
- On sets of occupational measures generated by a deterministic control system on an infinite time horizon
- LP-related representations of Cesàro and Abel limits of optimal value functions
- LP Formulations of Discrete Time Long-Run Average Optimal Control Problems: The NonErgodic Case
- Stochastic optimal control and linear programming approach
- Sufficient conditions for stabilization of sampled-data nonlinear systems via discrete-time approximations
- Controller design for discrete-time nonlinear feed-forward cascades with application to bacterial quorum sensing
- Optimality conditions in discrete-time infinite-horizon optimal control problem with discounting
- Infinite-horizon BSDE approach for exponential stabilization of discrete-time stochastic system
- LP based upper and lower bounds for Cesàro and Abel limits of the optimal values in problems of control of stochastic discrete time systems
- On the existence of stabilising feedback controls for real analytic small-time locally controllable systems
This page was built for publication: Asymptotic Controllability and Exponential Stabilization of Nonlinear Control Systems at Singular Points
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4210176)
