Adaptive Position Tracking with Hard Constraints—Barrier Lyapunov Functions Approach

2016 ◽  
pp. 27-52 ◽  
Author(s):  
Jacek Kabziński ◽  
Przemysław Mosiołek ◽  
Marcin Jastrzębski
Keyword(s):  
Lyapunov Functions ◽  
Position Tracking ◽  
Hard Constraints ◽  
Barrier Lyapunov Functions

scholarly journals Velocity Free Platoon Formation Control for Unmanned Surface Vehicles with Output Constraints and Model Uncertainties

2020 ◽  
Vol 10 (3) ◽  
pp. 1118 ◽  
Author(s):  
Duansong Wang ◽  
Mingyu Fu ◽  
Shuzhi Sam Ge ◽  
Dongyu Li
Keyword(s):  
Lyapunov Functions ◽  
Formation Control ◽  
Model Uncertainties ◽  
Model Based Control ◽  
Unmanned Surface Vehicles ◽  
Output Constraints ◽  
Formation Pattern ◽  
The Neural Networks ◽  
Communication Distance ◽  
Barrier Lyapunov Functions

This paper studies the velocity free platoon formation control for unmanned surface vehicles (USVs) with the model uncertainties and output constraints. Firstly, a reconstruction module is designed to estimate the velocity of the leader, which will be completed in finite time and will reduce the communication burden. Along with this, the model-based control combined with the symmetric barrier Lyapunov functions (BLF) method is designed to guarantee the output constraints. Then, the model uncertainties of the USV are approximated by the neural networks (NNs) and the NN BLF control is developed. To achieve the desired formation pattern, the constraints, including collision avoidance and communication distance, are under consideration. Finally, we proved that our system is semiglobally uniformly ultimately bounded (SGUUB) and verified the effectiveness of this approach by simulations.

Barrier Lyapunov Functions for the control of output-constrained nonlinear systems

Automatica ◽  
2009 ◽  
Vol 45 (4) ◽  
pp. 918-927 ◽  
Author(s):  
Keng Peng Tee ◽  
Shuzhi Sam Ge ◽  
Eng Hock Tay
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Functions ◽  
Constrained Nonlinear Systems ◽  
Barrier Lyapunov Functions

Robust control for state constrained systems based on composite barrier Lyapunov functions

2020 ◽  
Vol 30 (17) ◽  
pp. 7238-7254
Author(s):  
Dusthon Llorente‐Vidrio ◽  
Manuel Mera ◽  
Ivan Salgado ◽  
Isaac Chairez
Keyword(s):  
Robust Control ◽  
Lyapunov Functions ◽  
Constrained Systems ◽  
Barrier Lyapunov Functions

scholarly journals An improved adaptive online neural control for robot manipulator systems using integral Barrier Lyapunov functions

2019 ◽  
Vol 50 (3) ◽  
pp. 638-651 ◽  
Author(s):  
Jun Xia ◽  
Yujia Zhang ◽  
Chenguang Yang ◽  
Min Wang ◽  
Andy Annamalai
Keyword(s):  
Lyapunov Functions ◽  
Neural Control ◽  
Robot Manipulator ◽  
Barrier Lyapunov Functions
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