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
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