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arXiv · 2302.09078

HJ inequalities involving Lie brackets and feedback stabilizability with cost regulation

Giovanni Fusco·Monica Motta·Franco Rampazzo
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Abstract

With reference to an optimal control problem where the state has to approach asymptotically a closed target while paying a non-negative integral cost, we propose a generalization of the classical dissipative relation that defines a Control Lyapunov Function to a weaker differential inequality. The latter involves both the cost and the iterated Lie brackets of the vector fields in the dynamics up to a certain degree k greater than or equal to 1, and we call any of its (suitably defined) solutions a degree-k Minimum Restraint Function. We prove that the existence of a degree-k Minimum Restraint Function allows us to build a Lie-bracket-based feedback which sample stabilizes the system to the target while regulating (i.e., uniformly bounding) the cost.

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Giovanni Fusco, Monica Motta, Franco Rampazzo. 2023-02-17. HJ inequalities involving Lie brackets and feedback stabilizability with cost regulation. https://doi.org/10.1007/s00245-023-10041-1

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