Unilateral stabilization at first approximation (Q1895140)

The paper deals with the stabilization problem for the nonlinear control system \(\dot x= f(x, u)\), \(u\in U\) in the vicinity of equilibrium position \(x_0= 0\) corresponding to a control \(u_0\in U\) such that \(f(0, u_0)= 0\). The main goal of the paper is to find a set \(X\) and a control function \(u(x)\) such that \(X\) is the region of attraction for the differential equation \(\dot x= f(x, u(x))\) (the unilateral stabilization problem by the author's terminology). The conditions guaranteed the existence of a region of attraction \(\mathcal H\) for the first approximation \(\dot x= Cx+ w\), \(w\in K\) with \(C= \nabla f(0, u_0)\) and \(K= \) cone \(f(0, U)\). Then the region of attraction \(X\) for the nonlinear system may be constructed in such a way that its tangent cone \(T(0, X)\) will be equal to \(\mathcal H\) and a control \(u(x)\) will be the closest point in the following sense: \[ |Cx+ w(x)- f(x, u(x)|= d(Cx+ w(x), f(x, U)) \] with \(w(x)\) being the unilateral stabilizer of special type for the first approximation system. The nonlinear stabilization problem with state constraints is also considered. Two examples are given to illustrate the techniques presented.