A survey of viability theory. (English) Zbl 0714.49021

Aubin, Jean-Pierre

SIAM J. Control Optimization 28, No. 4, 749-788 (1990).

Summary: Some theorems of viability theory which are relevant to nonlinear control problems with state constraints and state-dependent control constraints are motivated and surveyed. They all deal with viable solutions to nonlinear control problems, i.e., solutions satisfying at each instant given state constraints of a general and diverse nature. Some classical results on controlled invariance of smooth nonlinear systems are adopted to the nonsmooth case, including inequality constraints bearing on the state and state-dependent constraints on the controls. For instance, existence of a viability kernel of a closed set (corresponding to the largest controlled invariant manifold) is provided under general conditions, even when the zero-dynamics algorithm does not converge.
The concepts of slow and heavy viable solutions are introduced, providing concrete ways of regulating viable solutions, by closed-loop feedbacks and closed-loop dynamical feedbacks. Viability theorems also allow the extension of Lyapunov’s second method to nonsmooth observation functions and the construction of “best” Lyapunov functions. As an application, “fuzzy differential inclusion” is presented.
Proofs and complements can be found in the author’s work, “Viability theory” (1991, to appear). They rely on properties of differential inclusion [see the author and A. Cellina, “Differential inclusions. Set-valued maps and viability theory” (1984; Zbl 0538.34007)] and set-valued analysis, [see the author, “Set-valued analysis” (Basel 1990)].

MSC:

49J52	Nonsmooth analysis
93C10	Nonlinear systems in control theory
26A24	Differentiation (real functions of one variable): general theory, generalized derivatives, mean value theorems
49-02	Research exposition (monographs, survey articles) pertaining to calculus of variations and optimal control
93-02	Research exposition (monographs, survey articles) pertaining to systems and control theory
26A27	Nondifferentiability (nondifferentiable functions, points of nondifferentiability), discontinuous derivatives
26A51	Convexity of real functions in one variable, generalizations
26E25	Set-valued functions
28B20	Set-valued set functions and measures; integration of set-valued functions; measurable selections
28D05	Measure-preserving transformations
34A60	Ordinary differential inclusions
34Dxx	Stability theory for ordinary differential equations
39Axx	Difference equations
54C60	Set-valued maps in general topology
54C65	Selections in general topology
58C06	Set-valued and function-space-valued mappings on manifolds
58C07	Continuity properties of mappings on manifolds
58C30	Fixed-point theorems on manifolds
93C15	Control/observation systems governed by ordinary differential equations
93C30	Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)

Keywords:

invariance; controlled invariance; regulation map; Lyapunov stability; asymptotic stability; tracking; contingent cone; contingent derivative of a set-valued map; epicontingent derivative of a function; viability theory; state constraints; state-dependent control constraints; viability kernel; Lyapunov’s second method; fuzzy differential inclusion; set- valued analysis

Citations:

Zbl 0538.34007