A bilevel programming approach to the convergence analysis of control-lyapunov functions

Wentao Tang, Prodromos Daoutidis

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This paper deals with the estimation of convergence rate and domain of attraction of control-Lyapunov functions in Lyapunov-based control. This pair of estimation problems has been considered only for input-affine systems with constraints on the input norm. In this paper, we propose a novel optimization framework to address the estimation of convergence rate and domain of attraction. Specifically, we formulate the estimation problems as min-max bilevel programs for the decay rate of the Lyapunov function, where the inner problem can be resolved using Karush- Kuhn-Tucker optimality conditions, and the resulting single-level programs can be transformed into and solved as mixed-integer nonlinear programs. The proposed approach is applicable to systems with input-nonaffinity or more general forms of input constraints under an input-convexity assumption.

Original languageEnglish (US)
Article number8610152
Pages (from-to)4174-4179
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume64
Issue number10
DOIs
StatePublished - Oct 2019

Keywords

  • Bilevel programming
  • Control-Lyapunov function
  • Domain of attraction
  • Lyapunov stability

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