Paper Info
Title
Diffeomorphism-based control of nonlinear systems subject to state constraints with actual applications
Abstract
This paper briefly collect the results of a more general approach of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1]. In that work we provide some insights and tools for the constrained state control problem with Barrier Lyapunov Functions. Here we provide a different and constructive outlook which allows to transform the constrained-state control problem into a Lyapunov-based control design on an unconstrained dynamics. Moreover, it is shown that the problem can also be solved for non-structured nonlinear systems. Surprisingly only some foundations of differential geometry and two extra assumptions were needed to construct a tool based on the well-established theories of control Lyapunov functions and Sontag's universal formula. Simple examples and a real application of dynamic positioning for ships with nonlinear position constraints are provided. The latter has been tested in a real scenario with a realistic simulator owned by shipbuilding company [2]. Some results are shown in a companion work [9].
Year
DOI
Venue
2014
10.1109/CCA.2014.6981454
Control Applications
Keywords
DocType
ISSN
Lyapunov methods,control system synthesis,differential geometry,nonlinear control systems,position control,ships,Lyapunov-based control design,Sontag universal formula,barrier Lyapunov functions,constrained state control problem,diffeomorphism-based nonlinear system control,differential geometry,dynamic ship positioning,nonlinear position constraints,nonstructured nonlinear systems,realistic simulator,shipbuilding company,state-and-input constraints,unconstrained dynamics
Conference
1085-1992
Citations 
PageRank 
References 
0
0.34
3
Authors
3
Name
Order
Citations
PageRank
José Ángel Acosta100.34
Arnau Doria-cerezo25713.10
Enric Fossas312431.87