A Min-Max Approach to Set Point Stabilisation for a Class of Drift-Free Systems

摘要

A new type of feedback strategy, for stabilisation to a point, for a class of drift-free systems is presented. The approach is based on the construction of a cost function which is a maximum of a finite number of component functions. The stabilising control is defined in terms of a set of nested, discrete processes, whose task is to minimise the non-differentiable cost. Repeated applica- tion of these processes yields a sequence of points along the controlled trajectory.