Please use this identifier to cite or link to this item: https://doi.org/10.1109/CDC.2009.5400484
Title: Control of nonlinear systems with full state constraint using a barrier lyapunov function
Authors: Tee, K.P.
Ge, S.S. 
Issue Date: 2009
Source: Tee, K.P., Ge, S.S. (2009). Control of nonlinear systems with full state constraint using a barrier lyapunov function. Proceedings of the IEEE Conference on Decision and Control : 8618-8623. ScholarBank@NUS Repository. https://doi.org/10.1109/CDC.2009.5400484
Abstract: This paper presents a control for state-constrained nonlinear systems in strict feedback form to achieve output tracking. To prevent states from violating the constraints, we employ a Barrier Lyapunov Function, which grows to infinity whenever its arguments approaches some limits. By ensuring boundedness of the Barrier Lyapunov Function in the closed loop, we guarantee that the limits are not transgressed.We show that asymptotic output tracking is achieved without violation of state constraints, and that all closed loop signals are bounded, provided that some feasibility conditions on the initial states and control parameters are satisfied. Sufficient conditions to ensure feasibility are provided, and they can be checked offline by solving a static constrained optimization problem. The performance of the proposed control is illustrated through a simulation example. ©2009 IEEE.
Source Title: Proceedings of the IEEE Conference on Decision and Control
URI: http://scholarbank.nus.edu.sg/handle/10635/69727
ISBN: 9781424438716
ISSN: 01912216
DOI: 10.1109/CDC.2009.5400484
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

37
checked on Dec 6, 2017

WEB OF SCIENCETM
Citations

24
checked on Nov 20, 2017

Page view(s)

10
checked on Dec 10, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.