Abstract
In this paper, we present a method for control of input-constrained nonlinear systems that offers guaranteed stabilization from the entire null controllable region (NCR). The controller achieves stabilization by using a constrained control Lyapunov function (CCLF) based on this NCR. Prior to online implementation, the level sets the CCLF are constructed using an iterative algorithm. The algorithm works by using an invariance principle to expand an initial quadratic Lyapunov function-based region of attraction. The level sets of this CCLF are then utilized in the control calculations, and in particular, an MPC is formulated that requires the system to go to lower level sets of the CCLF. The proposed MPC thus achieves stabilization from the entire NCR. The proposed approach is first corroborated against existing results for linear systems using two- and three-dimensional linear systems examples. Subsequently, the implementation is shown for two and three dimensional nonlinear systems.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
