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Control Contraction Metrics and Universal Stabilizability | Ian R. Manchester
; Jean-Jacques E. Slotine
; | Date: |
19 Nov 2013 | Abstract: | In this paper we introduce the concept of universal stabilizability: the
condition that every solution of a nonlinear system can be globally stabilized.
We give sufficient conditions in terms of the existence of a control
contraction metric, which can be found by solving a pointwise linear matrix
inequality. Extensions to approximate optimal control are straightforward. The
conditions we give are necessary and sufficient for linear systems and certain
classes of nonlinear systems, and have interesting connections to the theory of
control Lyapunov functions. | Source: | arXiv, 1311.4625 | Services: | Forum | Review | PDF | Favorites |
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