User:Saung Tadashi/Brockett's criterion

Brockett's criterion on control theory gives a necessary condition to stabilize a system by continuous time-invariant state feedback. It requires that the mapping (x,u) -> f(x,u) be open at zero...

(see https://books.google.com.br/books?id=-j5rg_0HPksC&lpg=PA165 and https://arxiv.org/pdf/1810.01368.pdf)

Brockett's criterion for continuously differentiable systems

Consider the nonlinear control system described the differential equation

${\dot {x}}=f(x,u),\quad t\geq 0,\quad (x,u)\in {\mathcal {X}}\times {\mathcal {U}}\subseteq \mathbb {R} ^{n}\times \mathbb {R} ^{m}$

where f : X x U -> R^n is C¹ class and f(0,0) = 0.

If the system is locally asymptotically stabilizable by a stationary C¹ feedback law, then it is necessary that f is open at (0,0).

Brockett's criterion for continuous systems

Consider the nonlinear control system described the differential equation

${\dot {x}}=f(x,u),\quad t\geq 0,\quad (x,u)\in {\mathcal {X}}\times {\mathcal {U}}\subseteq \mathbb {R} ^{n}\times \mathbb {R} ^{m}$

where f : X x U -> R^n is continuous and f(0,0) = 0.

If the system is locally asymptotically stabilizable by a stationary continuous feedback law, then it is necessary that f is open at (0,0).

Coron's criterion

See .

TODO

• Add shopping cart figure (see https://ieeexplore.ieee.org/document/4939307)
• Add region of attraction of Brockett non-holonomic integrator (see 9.4 of https://arxiv.org/pdf/1208.1751.pdf)

Brockett non-holonomic integrator

The Brockett integrator or nonholonomic integrator models a three-wheeled shopping cart

${\begin{aligned}{\dot {x}}_{1}&=u_{1}\\{\dot {x}}_{2}&=u_{2}\\{\dot {x}}_{3}&=u_{1}x_{2}-u_{2}x_{1}\end{aligned}}$

u_1 corresponds to the 'drive' command and u_2 is a steering command.

See also

• Nonholonomic system
• Parallel parking problem