On Stochastic Stabilization via Nonsmooth Control Lyapunov Functions
On Stochastic Stabilization via Nonsmooth Control Lyapunov Functions
Control Lyapunov function is a central tool in stabilization. It generalizes an abstract energy function—a Lyapunov function—to the case of controlled systems. It is a known fact that most control Lyapunov functions are nonsmooth—so is the case in nonholonomic systems, like wheeled robots and cars. Frameworks for stabilization using nonsmooth …