Controller for a nonlinear system with an input constraint by using a control Lyapunov function II

Nami Kidane, Hisakazu Nakamura, Yuh Yamashita, Hirokazu Nishitani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Malisoff and Sontag proposed a universal control formula for a nonlinear system such that the k-norm of inputs is less than one, where 1 < k ≤ 2. We have generalized the Malisoff's formula so that it can be applied in any case of k ≥ 1. However, the generalized controller may become discontinuous if k = 1 or k = 8. in this paper, we propose a new control formula that is continuous except the origin in any case of k ≤ 1. We also confirm the effectiveness of the proposed controller by computer simulation.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
Pages753-758
Number of pages6
Publication statusPublished - 1 Dec 2005
Event16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague, Czech Republic
Duration: 3 Jul 20058 Jul 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume16
ISSN (Print)1474-6670

Conference

Conference16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
CountryCzech Republic
CityPrague
Period3/07/058/07/05

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Keywords

  • Constraints
  • Controllers
  • Lyapunov methods
  • Nonlinear systems

Cite this

Kidane, N., Nakamura, H., Yamashita, Y., & Nishitani, H. (2005). Controller for a nonlinear system with an input constraint by using a control Lyapunov function II. In Proceedings of the 16th IFAC World Congress, IFAC 2005 (pp. 753-758). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 16).