Asymptotic Controllability and Lyapunov-like Functions Determined by Lie Brackets
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Publication:4636348
DOI10.1137/16M1086947zbMATH Open1401.93039arXiv1608.02712WikidataQ129904653 ScholiaQ129904653MaRDI QIDQ4636348FDOQ4636348
Authors: M. Motta, Franco Rampazzo 
Publication date: 19 April 2018
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
Abstract: For a given closed target we embed the dissipative relation that defines a control Lyapunov function in a more general differential inequality involving Hamiltonians built from iterated Lie brackets. The solutions of the resulting extended relation, here called degree-k control Lyapunov functions (k>=1), turn out to be still sufficient for the system to be globally asymptotically controllable to the target. Furthermore, we work out some examples where no standard (i.e., degree-1) smooth control Lyapunov functions exist while a smooth degree-k control Lyapunov function does exist, for some k>1. The extension is performed under very weak regularity assumptions on the system, to the point that, for instance, (set valued) Lie brackets of locally Lipschitz vector fields are considered as well.
Full work available at URL: https://arxiv.org/abs/1608.02712
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