Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints
Jia-Yao Jhang, Jenq-Lang Wu, Chee-Fai Yung
IEEE Access · 2020
doi:10.1109/access.2020.3027721 (opens in a new tab)
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Abstract
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.
Abstract licence: CC BY-NC-ND
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