NDLI: Control of state-constrained nonlinear systems using Integral Barrier Lyapunov Functionals

Content Provider	IEEE Xplore Digital Library
Author	Keng Peng Tee Shuzhi Sam Ge
Copyright Year	2012
Description	Author affiliation: Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576 (Shuzhi Sam Ge) \|\| Institute for Infocomm Research, A*STAR, Singapore 138632 (Keng Peng Tee)
Abstract	This paper presents a control design for nonlinear systems with state constraints, based on the use of our newly introduced Integral Barrier Lyapunov Functionals (iBLF). The integral functional allow the mixing of the original state constraints with the errors in a form amenable to stable backstepping control design. This reduces some of the conservatism associated with the use of purely error-based functions with transformed error constraints. We show that, under the proposed iBLF-based control, output tracking error is bounded by an exponentially decreasing function of time, all states always remain in the constrained state space, and that the stabilizing functions and control input are bounded, subject to significantly relaxed feasibility conditions. A numerical example illustrates the performance of the proposed control.
Starting Page	3239
Ending Page	3244
File Size	370030
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6426196
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optimization Nonlinear systems Lyapunov methods Trajectory Control design Backstepping Aerospace electronics
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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