A characteristics based curse-of-dimensionality-free approach for approximating control Lyapunov functions and feedback stabilization

URN to cite this document: urn:nbn:de:bvb:703-epub-3577-0

Title data

Yegorov, Ivan ; Dower, Peter ; Grüne, Lars:
A characteristics based curse-of-dimensionality-free approach for approximating control Lyapunov functions and feedback stabilization.
Bayreuth ; Melbourne , 2018 . - 8 S.

Format: PDF Name: Yegorov_Dower_Grune_clf.pdf Version: Preprint Available under License German copyright law. This contribution is freely accessible with the consent of the copyright holder on the basis of an (DFG-funded) alliance or national license. The document may be used free of charge for personal use. In addition, the reproduction, editing, distribution and any kind of exploitation require the written consent of the respective rights holder.

Download (2MB)

Project information

Project title:	Project's official title Project's id Activating Lyapunov-Based Feedback - Nonsmooth Control Lyapunov Functions DP160102138 No information FA2386-16-1-4066
Project financing:	ARC (Australian Research Council) AFOSR/AOARD

Abstract

This paper develops a curse-of-dimensionality-free numerical approach to construct control Lyapunov functions (CLFs) and stabilizing feedback strategies for deterministic con- trol systems described by systems of ODEs. An extension of the Zubov method is used to represent a CLF as the value function for an appropriate infinite-horizon optimal control problem. The infinite-horizon stabilization problem is approximated by an exit time problem, with target set given by a sufficiently small closed neighborhood of the origin in the state space. In order to compute the related value function and optimal feedback control law separately at different initial states and thereby to attenuate the curse of dimensionality, an extension of a recently developed characteristics based framework is proposed. Theoretical foundations of the developed approach are given together with practical discussions regarding its implementation, and numerical examples are also provided. In particular, it is pointed out that the curse of complexity may remain a significant issue even if the curse of dimensionality is avoided.

Further data

Item Type:	Preprint, postprint
Additional notes (visible to public):	erschienen in: Proceedings of the 23rd International Symposium on Mathematical Theory of Networks and Systems. - Hong Kong , 2018 . - S. 342-349
Keywords:	control Lyapunov functions; optimal control; optimization; stabilization by feedback
DDC Subjects:	500 Science > 510 Mathematics
Institutions of the University:	Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) > Chair Mathematics V (Applied Mathematics) - Univ.-Prof. Dr. Lars Grüne Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Applied Mathematics Profile Fields > Advanced Fields > Nonlinear Dynamics Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Mathematics > Chair Mathematics V (Applied Mathematics) Profile Fields Profile Fields > Advanced Fields
Language:	English
Originates at UBT:	Yes
URN:	urn:nbn:de:bvb:703-epub-3577-0
Date Deposited:	12 Feb 2018 07:40
Last Modified:	14 May 2021 08:53
URI:	https://epub.uni-bayreuth.de/id/eprint/3577

Download Statistics

Download Statistics

Download Statistics

Downloads

Downloads per month over past year