Control Lyapunov Research Articles

A novel two loops control architecture is presented for motion control of Autonomous Underwater Vehicle (AUVs). The outer (slow) positional loop incorporates classical Proportional-Derivative control to generate reference pitch and yaw tilting commands based on the positional errors. The reference attitude commands are fed to the inner (fast) attitude control loop, which utilizes Neuro-Adaptive Generalized Dynamic Inversion (NAGDI) control to generate the elevator and rudder deflections. The baseline Generalized Dynamic Inversion (GDI) control composed of particular and auxiliary parts. The particular part is designed by dynamically scaled generalized inversion of the attitude error dynamics, and the auxiliary part is constructed via a Lyapunov control function to provide global asymptotic stability to the angular body rate dynamics. A discontinuous control based on the concept of Sliding Mode Control (SMC) theory is augmented with baseline GDI. The modulation gain of discontinuous term is made adaptive to avoid chattering. Furthermore, online estimation of the unknown nonlinear attitude dynamics is achieved through radial basis function neural networks to obtain the resultant NAGDI control law. The proposed control law guarantees semi-global practically stable attitude tracking. Computer simulations are conducted on a six degrees of freedom simulator of the Monterey Bay Aquarium Research Institute AUV under nominal and perturbed marine environments.

SummaryIn this work, we provide a new and constructive outlook for the control of state‐and‐input constrained nonlinear systems. Previously, explicit solutions have been mainly focused on the finding of a barrier‐like Lyapunov function, whereas we propose the construction of a diffeomorphism to map all the trajectories of the constrained dynamics into an unconstrained one. Careful analysis has revealed that only some foundations of differential geometry and a technical assumption are necessary to construct the proposed methodology based on the well‐established theories of control Lyapunov functions and Sontag's universal formulae. Altogether, it allows us to obtain an explicit solution that even includes bounded constraints in the control action, giving the designer a way to decide (to some extent) the trade‐off between control saturations and robustness. Moreover, this approach does not rely on the own structure of the system dynamics, therefore covering a broad class of nonlinear systems. The main advantage of this approach is that the use of a diffeomorphism allows the splitting of the mathematical treatment of the constraint and the Lyapunov controller design. The result has been successfully applied to solve the dynamic positioning of an actual ship, where the nonlinear state constraints describe a strait. This approach enabled us to design a control Lyapunov function and thereby use Sontag's formula to solve the stabilisation problem. Realistic simulations have been executed in a real scenario on the simulator owned by an international shipbuilding company.

Control Lyapunov Research Articles

Related Topics

Articles published on Control Lyapunov

Dissipative entanglement preparation via Rydberg antiblockade and Lyapunov control

Accelerated and Noise‐Resistant Protocol of Dissipation‐Based Knill–Laflamme–Milburn State Generation with Lyapunov Control

<html>H<sub>&infin;</sub> sliding mode control for Markov jump systems with interval time-varying delays and general transition probabilities</html>

Lyapunov model predictive control to optimise computational burden, reference tracking and THD of three‐phase four‐leg inverter

Autonomous Underwater Vehicles Attitude control using Neuro-Adaptive Generalized Dynamic Inversion

Command Filtered Model-Free Robust Control for Aircrafts With Actuator Dynamics

Event-Triggered Control for a Three DoF Manipulator Robot

Adaptive Backstepping Tracking Control for an over–Actuated DP Marine Vessel with Inertia Uncertainties

Barrier Lyapunov function-based integrated guidance and control with input saturation and state constraints

Fractional Derivatives of Convex Lyapunov Functions and Control Problems in Fractional Order Systems

Leaderless finite-time consensus for second-order Lipschitz nonlinear multi-agent systems with settling time estimation

Efficient reduced order controller design for dissipative PDE systems with strong convective phenomena

Multiswitching compound–compound synchronisation of six chaotic systems

Quantum optical diode based on Lyapunov control in a superconducting system

Finite-Time Passivity and Synchronization of Coupled Reaction-Diffusion Neural Networks With Multiple Weights.

High fidelity Dicke-state generation with Lyapunov control in circuit QED system

Lyapunov Control Strategy for Thermoelectric Cooler Activating an Ice-Clamping System

Synchronization of Quadratic Chaotic Systems Based on Simultaneous Estimation of Nonlinear Dynamics

Stabilisation of state‐and‐input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application

Optimized Input-Shaped Model Reference Control on Double-Pendulum System

Lead the way for us

Editage

Paperpal

R Discovery

Mind the Graph

Control Lyapunov Research Articles

Related Topics

Articles published on Control Lyapunov

Dissipative entanglement preparation via Rydberg antiblockade and Lyapunov control

Accelerated and Noise‐Resistant Protocol of Dissipation‐Based Knill–Laflamme–Milburn State Generation with Lyapunov Control

&lt;html&gt;H&lt;sub&gt;&amp;infin;&lt;/sub&gt; sliding mode control for Markov jump systems with interval time-varying delays and general transition probabilities&lt;/html&gt;

Lyapunov model predictive control to optimise computational burden, reference tracking and THD of three‐phase four‐leg inverter

Autonomous Underwater Vehicles Attitude control using Neuro-Adaptive Generalized Dynamic Inversion

Command Filtered Model-Free Robust Control for Aircrafts With Actuator Dynamics

Event-Triggered Control for a Three DoF Manipulator Robot

Adaptive Backstepping Tracking Control for an over–Actuated DP Marine Vessel with Inertia Uncertainties

Barrier Lyapunov function-based integrated guidance and control with input saturation and state constraints

Fractional Derivatives of Convex Lyapunov Functions and Control Problems in Fractional Order Systems

Leaderless finite-time consensus for second-order Lipschitz nonlinear multi-agent systems with settling time estimation

Efficient reduced order controller design for dissipative PDE systems with strong convective phenomena

Multiswitching compound–compound synchronisation of six chaotic systems

Quantum optical diode based on Lyapunov control in a superconducting system

Finite-Time Passivity and Synchronization of Coupled Reaction-Diffusion Neural Networks With Multiple Weights.

High fidelity Dicke-state generation with Lyapunov control in circuit QED system

Lyapunov Control Strategy for Thermoelectric Cooler Activating an Ice-Clamping System

Synchronization of Quadratic Chaotic Systems Based on Simultaneous Estimation of Nonlinear Dynamics

Stabilisation of state‐and‐input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application

Optimized Input-Shaped Model Reference Control on Double-Pendulum System

<html>H<sub>∞</sub> sliding mode control for Markov jump systems with interval time-varying delays and general transition probabilities</html>