On the existence of nonsmooth control-Lyapunov functions in the sense of generalized gradients
Rifford, Ludovic
HAL, hal-00768997 / Harvested from HAL
Let \dot{x} = f (x, u) be a general control system; the existence of a smooth control-Lyapunov function does not imply the existence of a continuous stabilizing feedback. However, we show that it allows us to design a stabilizing feedback in the Krasovskii (or Filippov) sense. Moreover, we recall a definition of a control-Lyapunov function in the case of a nonsmooth function; it is based on Clarke's generalized gradient. Finally, with an inedite proof we prove that the existence of this type of control-Lyapunov function is equivalent to the existence of a classical control-Lyapunov function. This property leads to a generalization of a result on the systems with integrator.
Publié le : 2001-07-05
Classification:  [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
@article{hal-00768997,
     author = {Rifford, Ludovic},
     title = {On the existence of nonsmooth control-Lyapunov functions in the sense of generalized gradients},
     journal = {HAL},
     volume = {2001},
     number = {0},
     year = {2001},
     language = {en},
     url = {http://dml.mathdoc.fr/item/hal-00768997}
}
Rifford, Ludovic. On the existence of nonsmooth control-Lyapunov functions in the sense of generalized gradients. HAL, Tome 2001 (2001) no. 0, . http://gdmltest.u-ga.fr/item/hal-00768997/