Remarks on Input to State Stabilization

Malisoff Michael

Description

Remarks on Input to State Stabilization Michael Malisoff 1 Department of Mathematics 304 Lockett Hall Louisiana State University and A. & M. College Baton Rouge LA 70803-4918 USA Ludovic Rifford Institut Girard Desargues Universite Lyon 1 Batiment Braconnier 21 Avenue Claude Bernard 69622 Villeurbanne Cedex France Eduardo Sontag 2 Department of Mathematics Rutgers-New Brunswick Hill Center-Busch Campus 110 Frelinghuysen Road Piscataway NJ 08854-8019 USA Abstract— We announce a new construction of a stabilizing feedback law for nonlinear globally asymptotically controllable (GAC) systems. Given a control affine GAC system, our feed- back renders the closed loop system input to state stable with respect to actuator errors and small observation noise. We also announce a variant of our result for fully nonlinear GAC systems. I. INTRODUCTION The theory of input to state stable (ISS) systems forms the basis for much current research in mathematical control theory (cf. [6], [7], [17]). The ISS property was introduced in [15]. In the past decade, there has been a great deal of research done to find ISS stabilizing control laws (cf. [5], [6], [7], [9]).

• control-lyapunov function


• all continuous


• general sense


• gac systems


• exist ? ?


• pi ?


• trajectories through sampling

Sujets

• Desargues
• Collège
• Control-Lyapunov function

Informations

• Publié par: pefav
• Nombre de lectures: 17
• Langue: English

Extrait

Remarks on Input to State Stabilization

1 Michael Malisoff Department of Mathematics 304 Lockett Hall Louisiana State University and A. & M. College Baton Rouge LA 708034918 USA [e-mail]

Ludovic Rifford Institut Girard Desargues Universit ´ eLyon1 B ˆ atimentBraconnier 21 Avenue Claude Bernard 69622 Villeurbanne Cedex France [e-mail]lyon1.fr

2 Eduardo Sontag Department of Mathematics RutgersNew Brunswick Hill CenterBusch Campus 110 Frelinghuysen Road Piscataway NJ 088548019 USA [e-mail]

Abstract— Weannounce a new construction of a stabilizing other applications where Brockett’s necessary condition is feedback law for nonlinear globally asymptotically controllable not satisfied, and which therefore cannot be stabilized by (GAC) systems. Given a control affine GAC system, our feed continuous state feedbacks (cf. [2], [17]). back renders the closed loop system input to state stable with Our results alsostrengthen[3], which constructed feed respect to actuator errors and small observation noise. We backs for GAC systems which render the systems globally also announce a variant of our result for fully nonlinear GAC systems. asymptotically stable. Our main tool will be the recent constructions of semiconcave control Lyapunov functions (CLF’s) for GAC systems from [11], [12], [13]. Our con I. INTRODUCTION struction also applies in the more general situation where The theory of input to state stable (ISS) systems forms measurement noise may occur. In particular, our feedbackK the basis for much current research in mathematical control has the additional feature that theperturbedsystem theory (cf. [6], [7], [17]). The ISS property was introduced ˙x=f(x) +G(x)K(x+e) +G(x)u(3) in [15]. In the past decade, there has been a great deal of research done to find ISS stabilizing control laws (cf. [5], is ISS (with respect to the actuator erroru) when the [6], [7], [9]). In this note, we study the ISS stabilizability of n observation errore: [0,∞)→Rin the controller is control affine systems of the form sufficiently small(cf. the definitions below). In this context, the precise value ofe(t)is unknown to the controller, but x˙ =f(x) +G(x)u(1) information about upper bounds on the magnitude ofe(t) n wherefandGare locally Lipschitz vector fields onR be used to design the feedback. The following theorem , can m f(0) = 0, and the controluis valued inR(but see also is shown in [8]: §V for extensions for fully nonlinear systems). We assume Theorem 1:If (1) is GAC, then there exists a feedbackK throughout this note that the system (1) is globally asymp for which (3) is ISS for Euler solutions. totically controllable (GAC), and we construct a feedback Theorem 1 characterizes the uniform limits of sampling n m K:R→Rfor which solutions of (3) (cf.§II for the definitions of Euler and sampling solutions). From a computational standpoint, it is x˙ =f(x) +G(x)K(x) +G(x)u(2) also desirable to know how frequently to sample in order to achieve ISS for sampling solutions. This information is is ISS (cf.§II for the relevant definitions). As pointed out in [2], [17], acontinuous provided by the following theorem: (timeinvariant) stabilizing feedback Theorem 2:If (1) is GAC, then there exists a feedbackK Kfails to exist in general. This fact forces us to considerdiscontinuous which (3) is ISS for sampling solutions.feedbacks for K, so our solutions will be interpreted in the more general This note is organized as follows. In§II, we review sense of sampling and Euler solutions for dynamics which the relevant background on CLF’s, GAC and ISS systems, are discontinuous in the state (cf. [3], [17]). By an Euler nonsmooth analysis, and discontinuous feedbacks. In§III, solution, we mean a uniform limit of sampling solutions, we sketch the proofs of the above theorems (cf. [8] for their taken as the frequency of sampling becomes infinite (cf. detailed proofs). This is followed in§IV by a comparison § of our feedback construction with the known feedback con II for precise definitions). Our construction extends [15], o o [16], which show how to makeCstabilizable systems ISS structions forCstabilizable systems, and an application of to actuator errors. In particular, our feedback applies to the our results to the nonholonomic integrator. We close in§V nonholonomic integrator (cf. [2], [12], and§IV below) and by announcing an extension of our results for fully nonlinear systems. 1 This author was supported in part by Louisiana Board of Regents Support Fund Contract LEQSF(20022004)ENHTR26 as part of the project “Interdisciplinary Education, Outreach, and Research in Control AND MAIN LEMMASII. DEFINITIONS Theory at LSU”. This author last revised this paper on August 27, 2003. We letK ∞ denote the set of all continuous functions 2 This author was supported in part by US Air Force Grant F4962001 10063, and by NSF Grant CCR0206789. ρ: [0,∞)→[0,∞)for which (i)ρ(0) = 0and (ii)ρis