Title data
Baier, Robert ; Braun, Philipp ; Grüne, Lars ; Kellett, Christopher M.:
Numerical construction of nonsmooth control Lyapunov functions.
Bayreuth; Newcastle, Australia
,
2017
.  30 S.
PDF
CLF_MILP_Baier_Braun_Gruene_Kellett_2017.pdf  Preprint Available under License Deutsches Urheberrechtsgesetz . Download (732kB) 
Project information
Project title: 



Project financing: 
ARC (Australian Research Council) 
Abstract
Abstract Lyapunov’s second method is one of the most successful tools for analyzing stability properties of dynamical systems. If a control Lyapunov function is known, asymptotic stabilizability of an equilibrium of the corresponding dynamical system can be concluded without the knowledge of an explicit solution of the dynamical system. Whereas necessary and sufficient conditions for the existence of nonsmooth control Lyapunov functions are known by now, constructive methods to generate control Lyapunov functions for given dynamical systems are not known up to the same extent. In this paper we build on previous work to compute (control) Lyapunov functions based on linear programming and mixed integer linear programming. In particular, we propose a mixed integer linear program based on a discretization of the state space where a continuous piecewise affine control Lyapunov function can be recovered from the solution of the optimization problem. Different to previous work, we incorporate a semiconcavity condition into the formulation of the optimization problem. Results of the proposed scheme are illustrated on the example of Artstein’s circles and on a twodimensional system with two inputs. The underlying optimization problems are solved in Gurobi.