Asymptotically stabilizing feedback controls
The paper deals with the problem of the existence and construction of an asymptotically stabilizing feedback control for the zero solution of an \(n\)-dimensional, single-input, affine system: \(x=X_ 0(x)+uX_ 1(x)\), \(X_ 0(0)=0\), \(X_ 1(0)\neq 0\) where \(X_ 0(x)=\sum^ n_{i=2}a_ i(x){\partial\over \partial x_ i}\) and \(X_ 1=\partial/\partial x_ 1\). The approach is based on high order, homogeneous approximations of the vector fields defining the system, which allow to derive a local asymptotically stabilizing control. The nonlinear homogeneous approximations are constructed from Lie algebra filtrations obtained by assigning various weights to the defining vector fields. The asymptotically stabilizing feedback control is determined as the solution of a homogeneous Hamilton-Jacobi-Bellman equation associated to an optimization problem.
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