ON THE COMPUTATION OF SET-INDUCED CONTROL LYAPUNOV FUNCTIONS FOR CONTINUOUS-TIME SYSTEMS

摘要

The paper presents a computation-oriented method for characterizing and obtaining local control Lyapunov functions induced by particular star-shaped nonconvex sets for continuous-time nonlinear systems with bounded inputs. For a given set, the necessary and sufficient conditions for the induced function to be a nonconvex local control Lyapunov function are provided. The related convex problems for computing the exact region in which the function is decreasing and the optimal control input are presented. The results are applied to the Brockett integrator.