Locally optimal controllers and globally inverse optimal controllers

DOI10.1016/J.AUTOMATICA.2014.10.019MaRDI QIDQ473324zbMATH OpenOpenAlexFDO

Authors Sofiane Benachour, Humberto Stein Shiromoto, Vincent Andrieu

Publication date 24 November 2014

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1502.03415

zbMATH Keywords

Lyapunov functionnonlinear systemsoptimal controlLQ approach

Mathematics Subject Classification ID

Linear-quadratic optimal control problems (49N10) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)

Abstract: In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing a LQ approach, then the associated Lyapunov function can be seen as the value function of an optimal problem with some specific local properties. We illustrate these results on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering the orbital transfer problem.

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Cited in

(6)

• Uniting local and global controllers for uncertain nonlinear systems: beyond global inverse optimality
• scientific article; zbMATH DE number 1535451 (Why is no real title available?)
• From local to global asymptotic stabilizability for weakly contractive control systems
• Uniting global and local controllers under acting disturbances
• Nonlinear and locally optimal controllers design for input affine locally controllable systems
• Local and nonlocal optimal control in the source

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