Global stabilization for systems evolving on manifolds
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Abstract: We show that any globally asymptotically controllable system on any smooth manifold can be globally stabilized by a state feedback. Since we allow discontinuous feedbacks, we interpret the solutions of our systems in the ``sample and hold sense introduced by Clarke-Ledyaev-Sontag-Subbotin (CLSS). Our work generalizes the CLSS Theorem which is the special case of our result for systems on Euclidean space. We apply our result to the input-to-state stabilization of systems on manifolds relative to actuator errors, under small observation noise.
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Cites work
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- A Lyapunov-Like Characterization of Asymptotic Controllability
- An Almost Global Notion of Input-to-State Stability
- Asymptotic controllability implies feedback stabilization
- Clocks and Insensitivity to Small Measurement Errors
- Continuous control-Lyapunov functions for asymptotically controllable time-varying systems
- Existence of Lipschitz and semiconcave control-Lyapunov functions
- Flow Stability of Patchy Vector Fields and Robust Feedback Stabilization
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- Patchy Vector Fields and Asymptotic Stabilization
- Semiconcave Control-Lyapunov Functions and Stabilizing Feedbacks
- Smooth stabilization implies coprime factorization
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- Weak Converse Lyapunov Theorems and Control-Lyapunov Functions
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- Asymptotic stabilization of submanifolds embedded in Riemannian manifolds
- Robust global optimization on smooth compact manifolds via hybrid gradient-free dynamics
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- A nonlinear position and attitude observer on SE(3) using landmark measurements
- Dark energy from topology
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- Morse theory and Lyapunov stability on manifolds
- Asymptotic stabilization with locally semiconcave control Lyapunov functions on general manifolds
- Gap functions and globally projected differential inclusions on Riemannian manifolds
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