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   Articles with "barrier lyapunov" as a keyword



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3D UAV Navigation with Moving-Obstacle Avoidance Using Barrier Lyapunov Functions

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recommendations! Published in 2019 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2019.11.068

Abstract: We address the safe-navigation problem for aerial robots in the presence of mobile obstacles. Our approach relies on an original dynamic model defined in a cylindrical-coordinate space. It is assumed that the environment contains moving… read more here.

Keywords: navigation moving; uav navigation; moving obstacle; barrier lyapunov ... See more keywords
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Barrier-Lyapunov Function based Dynamic Surface Control of Quad-Rotorcraft

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recommendations! Published in 2020 at "IFAC-PapersOnLine"

DOI: 10.1016/j.ifacol.2020.12.2406

Abstract: Abstract A novel framework is proposed in this paper for control of a quad-rotorcraft where hierarchical design is constructed via barrier Lyapunov function (BLF) combined with dynamic surface control (DSC). DSC solves the requirement of… read more here.

Keywords: control; quad rotorcraft; dynamic surface; lyapunov function ... See more keywords
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Barrier Lyapunov function-based adaptive fuzzy control for induction motors with iron losses and full state constraints

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recommendations! Published in 2018 at "Neurocomputing"

DOI: 10.1016/j.neucom.2018.02.020

Abstract: Abstract This paper is concerned with the problem of adaptive fuzzy control for induction motors (IMs) with iron losses and full state constraints based on the barrier Lyapunov function method. The state variables are constrained… read more here.

Keywords: state; barrier lyapunov; full state; lyapunov function ... See more keywords
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Barrier Lyapunov Function-Based Sliding Mode Control for BWB Aircraft With Mismatched Disturbances and Output Constraints

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recommendations! Published in 2019 at "IEEE Access"

DOI: 10.1109/access.2019.2957036

Abstract: This paper presents a barrier Lyapunov function based nonsingular fast terminal sliding mode control with fixed-time non-recursive disturbance observer for the blended-wing-body (BWB) aircraft in the presence of mismatched disturbances and output constraints. The fixed-time… read more here.

Keywords: sliding mode; lyapunov function; barrier lyapunov; mismatched disturbances ... See more keywords
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Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

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recommendations! Published in 2021 at "IEEE Access"

DOI: 10.1109/access.2021.3068949

Abstract: This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is… read more here.

Keywords: barrier lyapunov; autonomous vehicle; control; lyapunov function ... See more keywords
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Observer-Based Adaptive Fuzzy Tracking Control Using Integral Barrier Lyapunov Functionals for A Nonlinear System With Full State Constraints

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recommendations! Published in 2021 at "IEEE/CAA Journal of Automatica Sinica"

DOI: 10.1109/jas.2021.1003877

Abstract: A new fuzzy adaptive control method is proposed for a class of strict feedback nonlinear systems with immeasurable states and full constraints. The fuzzy logic system is used to design the approximator, which deals with… read more here.

Keywords: system; control; integral barrier; adaptive fuzzy ... See more keywords
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Barrier Lyapunov Function-Based Safe Reinforcement Learning for Autonomous Vehicles With Optimized Backstepping.

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recommendations! Published in 2022 at "IEEE transactions on neural networks and learning systems"

DOI: 10.1109/tnnls.2022.3186528

Abstract: Guaranteed safety and performance under various circumstances remain technically critical and practically challenging for the wide deployment of autonomous vehicles. Safety-critical systems in general, require safe performance even during the reinforcement learning (RL) period. To… read more here.

Keywords: function based; autonomous vehicles; reinforcement learning; lyapunov function ... See more keywords
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Sliding-Mode Control of Full-State Constraint Nonlinear Systems: A Barrier Lyapunov Function Approach

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recommendations! Published in 2022 at "IEEE Transactions on Systems, Man, and Cybernetics: Systems"

DOI: 10.1109/tsmc.2022.3148695

Abstract: This study presents the design of a robust control based on the sliding-mode theory to solve both; the stabilization and the trajectory tracking problems of nonlinear systems subjected to a class of full-state restrictions. The… read more here.

Keywords: full state; state; sliding mode; control ... See more keywords
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Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer

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recommendations! Published in 2019 at "Mathematical Problems in Engineering"

DOI: 10.1155/2019/8709369

Abstract: This paper presents a backstepping controller using barrier Lyapunov function (BLF) for dynamic positioning (DP) system. For safety reasons, the position and heading of DP ship are to be maintained in certain range. Thus, in… read more here.

Keywords: using barrier; system; control; passive observer ... See more keywords
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Adaptive control for full-states constrained nonlinear systems with unknown control direction using Barrier Lyapunov Functionals

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recommendations! Published in 2022 at "Transactions of the Institute of Measurement and Control"

DOI: 10.1177/01423312221093826

Abstract: In this paper, a new adaptive back-stepping (BS) control technique based on barrier Lyapunov functions (BLFs) is proposed to manage a class of full-state constrained nonlinear systems subject to totally unknown directions and uncertain time-varying… read more here.

Keywords: constrained nonlinear; control; unknown control; barrier lyapunov ... See more keywords
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Appointed-Time Integral Barrier Lyapunov Function-Based Trajectory Tracking Control for a Hovercraft with Performance Constraints

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recommendations! Published in 2020 at "Applied Sciences"

DOI: 10.3390/app10207381

Abstract: This paper develops a totally new appointed-time integral barrier Lyapunov function-based trajectory tracking algorithm for a hovercraft in the presence of multiple performance constraints and model uncertainties. Firstly, an appointed-time performance constraint function is skillfully… read more here.

Keywords: appointed time; time; integral barrier; performance ... See more keywords