Control of nonlinear systems with partial state constraints using a barrier Lyapunov function

2011 ◽  
Vol 84 (12) ◽  
pp. 2008-2023 ◽  
Author(s):  
Keng Peng Tee ◽  
Shuzhi Sam Ge
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Function ◽  
State Constraints ◽  
Barrier Lyapunov Function ◽  
Partial State

Adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics

2021 ◽  
pp. 014233122098563
Author(s):  
Fei Shen ◽  
Xinjun Wang ◽  
Xinghui Yin
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Lyapunov Function ◽  
Dead Zone ◽  
Small Neighborhood ◽  
Unmodeled Dynamics ◽  
Stochastic Nonlinear Systems ◽  
Dynamic Surface ◽  
Barrier Lyapunov Function ◽  
Full State

This paper investigates the problem of adaptive control based on Barrier Lyapunov function for a class of full-state constrained stochastic nonlinear systems with dead-zone and unmodeled dynamics. To stabilize such a system, a dynamic signal is introduced to dominate unmodeled dynamics and an assistant signal is constructed to compensate for the effect of the dead zone. Dynamic surface control is used to solve the “complexity explosion” problem in traditional backstepping design. Two cases of symmetric and asymmetric Barrier Lyapunov functions are discussed respectively in this paper. The proposed Barrier Lyapunov function based on backstepping method can ensure that the output tracking error converges in the small neighborhood of the origin. This control scheme can ensure that semi-globally uniformly ultimately boundedness of all signals in the closed-loop system. Two simulation cases are proposed to verify the effectiveness of the theoretical method.

scholarly journals Control of Nonlinear System with State-Constraints using Barrier Lyapunov Function and Backstepping Method

2018 ◽  
Vol 11 (4) ◽  
pp. 165-174
Author(s):  
Joseph R. P. D. Hasibuan ◽  
Elfi Yulia ◽  
Muhammad Hablul Barri ◽  
Augie Widyotriatmo
Keyword(s):  
Nonlinear System ◽  
Lyapunov Function ◽  
State Constraints ◽  
Backstepping Method ◽  
Barrier Lyapunov Function
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