Open Access Open Access  Restricted Access Subscription or Fee Access

Asymptotic Stabilization of Nonlinear Systems with State Constraints

A. Widyotriatmo, K.-S. Hong

Abstract


This paper presents asymptotic stabilization strategy for nonlinear systems, in which the individual states are constrained within certain ranges. A barrier function whose value increases to infinity as the argument approaches the boundary of the constrained region is utilized as a Lyapunov function candidate. The derived control law guarantees that, for all initial conditions within the constraint range, the asymptotic stability of the origin is achieved and the state constraints are not violated for all time. The control gains assign the desired spectrum of the closed-loop system in a neighborhood of the origin, and a fast convergence of the states from initial conditions to the origin is achieved. By simulation, the performance of the proposed control law is compared with that of the control law derived upon a quadratic Lyapunov function and that of the nonlinear model predictive
control.

Keywords


Barrier function, Lyapunov method, nonlinear systems, state constraints, simulation.

Full Text:

PDF


Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information. Also: DOI is paid service which provided by a third party. We never mentioned that we go for this for our any journal. However, journal have no objection if author go directly for this paid DOI service.