http://scholars.ntou.edu.tw/handle/123456789/17561
標題: | Stabilization of Nonlinear Control-Affine Systems with Multiple State Constraints | 作者: | Jia-Yao Jhang Jenq-Lang Wu Chee-Fai Yung |
關鍵字: | Barrier function;control Lyapunov function;control Lyapunov-barrier function;nonlinear control systems;state constraint;state feedback | 公開日期: | 十月-2020 | 出版社: | IEEE Access | 卷: | 8 | 起(迄)頁: | 179735 - 179744 | 來源出版物: | IEEE Access | 摘要: | 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. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/17561 | ISSN: | 2169-3536 | DOI: | 10.1109/ACCESS.2020.3027721 |
顯示於: | 電機工程學系 |
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