Locally optimal controllers and application to orbital transfer (long version)

Overview & Synopsis

In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing a LQ approach, then the associated Lyapunov function can be seen has the value function of an optimal problem with some specific properties. We illustrate these result on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering an orbital transfer problem.