Please use this identifier to cite or link to this item: https://doi.org/10.1109/CDC.2009.5400484
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dc.titleControl of nonlinear systems with full state constraint using a barrier lyapunov function
dc.contributor.authorTee, K.P.
dc.contributor.authorGe, S.S.
dc.date.accessioned2014-06-19T03:03:58Z
dc.date.available2014-06-19T03:03:58Z
dc.date.issued2009
dc.identifier.citationTee, 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
dc.identifier.isbn9781424438716
dc.identifier.issn01912216
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/69727
dc.description.abstractThis 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/CDC.2009.5400484
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1109/CDC.2009.5400484
dc.description.sourcetitleProceedings of the IEEE Conference on Decision and Control
dc.description.page8618-8623
dc.description.codenPCDCD
dc.identifier.isiut000336893609021
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