- Title
- Complete instability of differential inclusions using Lyapunov Methods
- Creator
- Braun, Philipp; Grüne, Lars; Kellett, Christopher M.
- Relation
- 57th IEEE Conference on Decision and Control (CDC). 2018 IEEE Conference on Decision and Control (CDC) (Miami Beach, FL, USA 17-19 December, 2018) p. 718-724
- Relation
- ARC.DP160102138 http://purl.org/au-research/grants/arc/DP160102138
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2018.8618663
- Publisher
- IEEE
- Resource Type
- conference paper
- Date
- 2018
- Description
- Lyapunov functions and control Lyapunov functions are a well established tool in the analysis of stability properties of dynamical systems as well as in the design of stabilizing feedback controllers. In order to address problems such as stabilization in the presence of unsafe sets of states or obstacle avoidance, one potential approach involves rendering such obstacles unstable by feedback. To this end we introduce (nonsmooth) Chetaev and control Chetaev functions and demonstrate their sufficiency for complete instability properties of dynamical systems. While a “time-reversal” approach is frequently used to study instability in reverse time of an asymptotically stable point in forward time, we demonstrate via an example that such an approach cannot be used to generate Chetaev functions from nonsmooth Lyapunov functions via a simple change of sign in the time argument.
- Subject
- asymptotic stability; Lyapunov methods; differential equations; tools; stability analysis; collision avoidance
- Identifier
- http://hdl.handle.net/1959.13/1509820
- Identifier
- uon:56315
- Identifier
- ISBN:978-1-5386-1395-5
- Identifier
- ISSN:0743-1546
- Language
- eng
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