On Stochastic Stabilization via Nonsmooth Control Lyapunov Functions

DOI10.1109/TAC.2022.3211986MaRDI QIDQ6093216zbMATH OpenOpenAlexFDO

Authors Pavel Osinenko

Publication date 6 October 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2205.13409

zbMATH Keywords

asymptotic stabilitycontrol systemsLyapunov stabilitystability criteriasystem analysis and design

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: Control Lyapunov function is a central tool in stabilization. It generalizes an abstract energy function -- a Lyapunov function -- to the case of controlled systems. It is a known fact that most control Lyapunov functions are non-smooth -- so is the case in non-holonomic systems, like wheeled robots and cars. Frameworks for stabilization using non-smooth control Lyapunov functions exist, like Dini aiming and steepest descent. This work generalizes the related results to the stochastic case. As the groundwork, sampled control scheme is chosen in which control actions are computed at discrete moments in time using discrete measurements of the system state. In such a setup, special attention should be paid to the sample-to-sample behavior of the control Lyapunov function. A particular challenge here is a random noise acting on the system. The central result of this work is a theorem that states, roughly, that if there is a, generally non-smooth, control Lyapunov function, the given stochastic dynamical system can be practically stabilized in the sample-and-hold mode meaning that the control actions are held constant within sampling time steps. A particular control method chosen is based on Moreau-Yosida regularization, in other words, inf-convolution of the control Lyapunov function, but the overall framework is extendable to further control schemes. It is assumed that the system noise be bounded almost surely, although the case of unbounded noise is briefly addressed.

Cited in

(4)

• Feedback Stabilization of Affine in the Control Stochastic Differential Systems by the Control Lyapunov Function Method
• Stability against small noises in control problems with non-Lipschitz right-hand side of the dynamic equation
• Stochastic nonlinear stabilization. II: Inverse optimality
• A stabilizing reinforcement learning approach for sampled systems with partially unknown models

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