Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints
This paper considers the synthesis of stabilizing controllers for nonlinear control-affine systems under multiple state constraints. A new control Lyapunov-barrier function approach is introduced for solving the considered problem. Assuming a classical control Lyapunov function, two possible methods...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9208738/ |
| _version_ | 1818734801344004096 |
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| author | Jia-Yao Jhang Jenq-Lang Wu Chee-Fai Yung |
| author_facet | Jia-Yao Jhang Jenq-Lang Wu Chee-Fai Yung |
| author_sort | Jia-Yao Jhang |
| collection | DOAJ |
| description | This paper considers the synthesis of stabilizing controllers for nonlinear control-affine systems under multiple state constraints. A new control Lyapunov-barrier function approach is introduced for solving the considered problem. Assuming a classical control Lyapunov function, two possible methods for constructing new control Lyapunov-barrier functions are discussed. Sufficient conditions for the existence of new control Lyapunov-barrier functions are derived. With modifying the Sontag's formula, an explicit state-constrained stabilizing feedback law is presented. Finally, two numerical examples are provided to illustrate the obtained theoretical results. |
| first_indexed | 2024-12-18T00:11:08Z |
| format | Article |
| id | doaj.art-94e713ad9d6d410b87b4d8f55702f52d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-18T00:11:08Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-94e713ad9d6d410b87b4d8f55702f52d2022-12-21T21:27:40ZengIEEEIEEE Access2169-35362020-01-01817973517974410.1109/ACCESS.2020.30277219208738Stabilization of Nonlinear Control-Affine Systems With Multiple State ConstraintsJia-Yao Jhang0https://orcid.org/0000-0001-9698-0119Jenq-Lang Wu1https://orcid.org/0000-0003-1621-3812Chee-Fai Yung2Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C.Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C.Department of Electrical Engineering, National Taiwan Ocean University, Keelung, Taiwan, R.O.C.This paper considers the synthesis of stabilizing controllers for nonlinear control-affine systems under multiple state constraints. A new control Lyapunov-barrier function approach is introduced for solving the considered problem. Assuming a classical control Lyapunov function, two possible methods for constructing new control Lyapunov-barrier functions are discussed. Sufficient conditions for the existence of new control Lyapunov-barrier functions are derived. With modifying the Sontag's formula, an explicit state-constrained stabilizing feedback law is presented. Finally, two numerical examples are provided to illustrate the obtained theoretical results.https://ieeexplore.ieee.org/document/9208738/Barrier functioncontrol Lyapunov functioncontrol Lyapunov-barrier functionnonlinear control systemsstate constraintstate feedback |
| spellingShingle | Jia-Yao Jhang Jenq-Lang Wu Chee-Fai Yung Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints IEEE Access Barrier function control Lyapunov function control Lyapunov-barrier function nonlinear control systems state constraint state feedback |
| title | Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints |
| title_full | Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints |
| title_fullStr | Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints |
| title_full_unstemmed | Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints |
| title_short | Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints |
| title_sort | stabilization of nonlinear control affine systems with multiple state constraints |
| topic | Barrier function control Lyapunov function control Lyapunov-barrier function nonlinear control systems state constraint state feedback |
| url | https://ieeexplore.ieee.org/document/9208738/ |
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