Analytical approximation methods for the stabilizing solution of the Hamilton–Jacobi equation

Abstract—In this paper, two methods for approximating the stabilizing solution of the Hamilton–Jacobi equation are proposed using symplectic geometry and a Hamiltonian perturbation tech-nique as well as stable manifold theory. The first method uses the fact that the Hamiltonian lifted system of an integrable system is also integrable and regards the corresponding Hamiltonian system of the Hamilton–Jacobi equation as an integrable Hamiltonian system with a perturbation caused by control. The second method directly approximates the stable flow of the Hamiltonian systems using a modification of stable manifold theory. Both methods provide analytical approximations of the stable Lagrangian submanifold from which the stabilizing solution is derived. Two examples illustrate the effectiveness of the methods. Index Terms—Hamilton–Jacobi equation, Hamiltonian systems, nonlinear control theory, perturbation method, stable manifol