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Constrained control Lyapunov function-based control of nonlinear systems.
- Source :
-
Systems & Control Letters . Dec2017, Vol. 110, p55-61. 7p. - Publication Year :
- 2017
-
Abstract
- In this paper, we present an algorithm to address the problem of guaranteed stabilization of nonlinear systems from the largest set of initial conditions from where stabilization is possible, the so-called null controllable region (NCR), while also handling state constraints and partial unboundedness of the NCR. The controller uses the geometry of the NCR to inform a constrained control Lyapunov function which in turn provides feasibility and stability guarantees. The NCR is produced from a novel iterative growth algorithm that exploits a certain invariance property. The new controller implementation is illustrated using a chemical reactor system and compared to a conventional nonlinear model predictive control (MPC) implementation. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 01676911
- Volume :
- 110
- Database :
- Academic Search Index
- Journal :
- Systems & Control Letters
- Publication Type :
- Academic Journal
- Accession number :
- 126391862
- Full Text :
- https://doi.org/10.1016/j.sysconle.2017.10.004