Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.automatica.2008.11.017
DC FieldValue
dc.titleBarrier Lyapunov Functions for the control of output-constrained nonlinear systems
dc.contributor.authorTee, K.P.
dc.contributor.authorGe, S.S.
dc.contributor.authorTay, E.H.
dc.date.accessioned2014-10-07T04:24:15Z
dc.date.available2014-10-07T04:24:15Z
dc.date.issued2009-04
dc.identifier.citationTee, K.P., Ge, S.S., Tay, E.H. (2009-04). Barrier Lyapunov Functions for the control of output-constrained nonlinear systems. Automatica 45 (4) : 918-927. ScholarBank@NUS Repository. https://doi.org/10.1016/j.automatica.2008.11.017
dc.identifier.issn00051098
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/82005
dc.description.abstractIn this paper, we present control designs for single-input single-output (SISO) nonlinear systems in strict feedback form with an output constraint. To prevent constraint violation, we employ a Barrier Lyapunov Function, which grows to infinity when its arguments approach some limits. By ensuring boundedness of the Barrier Lyapunov Function in the closed loop, we ensure that those limits are not transgressed. Besides the nominal case where full knowledge of the plant is available, we also tackle scenarios wherein parametric uncertainties are present. Asymptotic tracking is achieved without violation of the constraint, and all closed loop signals remain bounded, under a mild condition on the initial output. Furthermore, we explore the use of an Asymmetric Barrier Lyapunov Function as a generalized approach that relaxes the requirements on the initial conditions. We also compare our control with one that is based on a Quadratic Lyapunov Function, and we show that our control requires less restrictive initial conditions. A numerical example is provided to illustrate the performance of the proposed control. © 2008 Elsevier Ltd. All rights reserved.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/j.automatica.2008.11.017
dc.sourceScopus
dc.subjectAdaptive control
dc.subjectBackstepping
dc.subjectBarrier function
dc.subjectConstraints
dc.subjectLyapunov methods
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1016/j.automatica.2008.11.017
dc.description.sourcetitleAutomatica
dc.description.volume45
dc.description.issue4
dc.description.page918-927
dc.description.codenATCAA
dc.identifier.isiut000265155700008
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