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Stabilisation of state-and-input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application

Author
Acosta, J. Á.; Doria-Cerezo, A.; Fossas, E., E. Fossas, E. Fossas-Colet, Enric Fossas, Enric Fossas-Colet
Type of activity
Journal article
Journal
International journal of robust and nonlinear control
Date of publication
2018-09-10
Volume
28
Number
13
First page
4032
Last page
4044
DOI
https://doi.org/10.1002/rnc.4119 Open in new window
Repository
http://hdl.handle.net/2117/124210 Open in new window
URL
https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.4119 Open in new window
Abstract
In this work, we provide a new and constructive outlook for the control of state-and-input constrained nonlinear systems. Previously, explicit solutions have been mainly focused on the finding of a barrier-like Lyapunov function, whereas we propose the construction of a diffeomorphism to map all the trajectories of the constrained dynamics into an unconstrained one. Careful analysis has revealed that only some foundations of differential geometry and a technical assumption are necessary to const...
Citation
Acosta, J. Á., Doria-Cerezo, A., Fossas, E., E. Fossas, E. Fossas-Colet, Enric Fossas, E. F. Stabilisation of state-and-input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application. "International journal of robust and nonlinear control", 10 Setembre 2018, vol. 28, núm. 13, p. 4032-4044.
Keywords
Control applications, Control design, Nonlinear control, Stability
Group of research
ACES - Advanced Control of Energy Systems

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