On Inf-Convolution-Based Robust Practical Stabilization Under Computational Uncertainty

摘要

This article is concerned with practical stabilization of nonlinear systems by means of inf-convolution-based sample-and-hold control. It is a fairly general stabilization technique based on a generic nonsmooth control Lyapunov function (CLF) and robust to actuator uncertainty, measurement noise, etc. The stabilization technique itself involves computation of descent directions of the CLF. It turns out that nonexact realization of this computation leads not just to a quantitative, but also qualitative obstruction in the sense that the result of the computation might fail to be a descent direction altogether and there is also no straightforward way to relate it to a descent direction. Disturbance, primarily measurement noise, complicate the described issue even more. This article suggests a modified inf-convolution-based control that is robust w.r.t system and measurement noise, as well as computational uncertainty. The assumptions on the CLF are mild, as, e.g., any piece-wise smooth function, which often results from a numerical LF/CLF construction, satisfies them. A computational study with a three-wheel robot with dynamical steering and throttle under various tolerances w. r. t. computational uncertainty demonstrates the relevance of the addressed issue and the necessity of modifying the used stabilization technique. Similar analyses may be extended to other methods which involve optimization, such as Dini aiming or steepest descent.