Locally optimal controllers and globally inverse optimal controllers

Sofiane Benachour (1) , Humberto Stein Shiromoto (2) , Vincent Andrieu (1)

1 LAGEP - Laboratoire d'automatique et de génie des procédés
2 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing a LQ approach, then the associated Lyapunov function can be seen as the value function of an optimal problem with some speci c local properties. We illustrate these results on two speci c classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering the orbital transfer problem.

Domaines: Automatique / Robotique

Sofiane Benachour, Humberto Stein Shiromoto, Vincent Andrieu. Locally optimal controllers and globally inverse optimal controllers. Automatica, 2014, 50 (11), pp.2918-2923. ⟨10.1016/j.automatica.2014.10.019⟩. ⟨hal-01021006⟩