HJ Inequalities Involving Lie Brackets and Feedback Stabilizability with Cost Regulation

With reference to an optimal control problem where the state has to approach asymptotically a closed target while paying a non-negative integral cost, we propose a generalization of the classical dissipative relation that defines a Control Lyapunov Function to a weaker differential inequality. The latter involves both the cost and the iterated Lie brackets of the vector fields in the dynamics up to a certain degree k = 1, and we call any of its (suitably defined) solutions a degree -k Minimum Restraint Function. We prove that the existence of a degree -k Minimum Restraint Function allows us to build a Lie-bracket-based feedback which sample stabilizes the system to the target while regulating (i.e., uniformly bounding) the cost