Control Lyapunov function method for robust stabilization of multistable affine nonlinear systems
Sign Up to like & getrecommendations! Published in 2023 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.6700
Abstract: In this paper, we study the problem of robust stabilization of affine nonlinear multistable systems in the presence of exogenous disturbances. The results are based on the theory of input‐to‐state stability (ISS) and integral input‐to‐state… read more here.
Keywords: lyapunov function; control lyapunov; control; affine nonlinear ... See more keywords
Handling bounded and unbounded unsafe sets in Control Lyapunov-Barrier function-based model predictive control of nonlinear processes
Sign Up to like & getrecommendations! Published in 2019 at "Chemical Engineering Research and Design"
DOI: 10.1016/j.cherd.2019.01.002
Abstract: Abstract Control Lyapunov-Barrier function (CLBF) has been used to design controllers for nonlinear systems subject to input constraints to ensure closed-loop stability and process operational safety simultaneously. In this work, we developed Control Lyapunov-Barrier functions… read more here.
Keywords: lyapunov barrier; clbf; control lyapunov; bounded unbounded ... See more keywords
Sampled-Data Stabilization With Control Lyapunov Functions via Quadratically Constrained Quadratic Programs
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2021.3085172
Abstract: Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap between… read more here.
Keywords: control; control lyapunov; sampled data; quadratic programs ... See more keywords
Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3065174
Abstract: This letter addresses the problem of formally guaranteeing the stability of interconnected systems with local controllers with a view toward stabilizing quadrupeds viewed as coupled bipeds. In particular, we present a novel framework that views… read more here.
Keywords: control; control lyapunov; stability; coupled control ... See more keywords
A General Class of Control Lyapunov Functions and Sampled-Data Stabilization
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2020.3046563
Abstract: Several important contributions toward sampled-data and hybrid feedback stabilization have appeared in the literature. This article extends recent results by second author concerning sampled-data feedback stabilization for affine in the control of nonlinear systems with… read more here.
Keywords: control lyapunov; class control; stabilization; control ... See more keywords
Exponential Control Lyapunov-Barrier Function Using a Filtering-Based Concurrent Learning Adaptive Approach
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3120622
Abstract: The state-of-the-art quadratic-program-based control Lyapunov-barrier function (QP-CLBF) is a powerful control approach to balance safety and stability in an optimal fashion. However, under this approach, modeling inaccuracies may degrade the performance of closed-loop systems and… read more here.
Keywords: concurrent learning; control lyapunov; control; lyapunov barrier ... See more keywords
Adaptive Control of Wire-Borne Underactuated Brachiating Robots Using Control Lyapunov and Barrier Functions
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2022.3160058
Abstract: Executing safe brachiation maneuvers with a cable-suspended underactuated robot is a challenging problem due to the complications induced by the cable dynamics. We present and experimentally implement an online adaptive controller for a wire-borne brachiating… read more here.
Keywords: wire borne; cable; control lyapunov; control ... See more keywords