Alternative SDRE Scheme for Planar Systems

摘要

Considering the state-dependent Riccati equation (SDRE) scheme, this brief formulates an alternative viewpoint on the flexibility of state-dependent coefficients for nonlinear affine planar systems. By constructing the feasible SDRE controller values directly, pointwise solving the Riccati equation can be circumvented. As a result, computational performance of the SDRE scheme can be enhanced. Based on this alternative formulation, we can establish the global asymptotic stability, while introducing additional flexibilities in the associated Lyapunov function, for a broader class of planar systems with respect to the literature. Additionally, these analytical results clarify various effects of the flexibility of weighting functions on the stabilizing performance.