State-Constrained Nonlinear L-2-Gain Control

Abstract

In this note, a novel barrier storage function approach is developed to solve L-2-gain control problem for nonlinear control-affine systems under functional-inequality state constraints. The existence of barrier storage functions is shown to be sufficient for guaranteeing the existence of state-constrained L-2-gain controllers. Sufficient conditions for the existence of barrier storage functions are derived. Finally, a numerical example is given for illustration.