Controller for a nonlinear system with an input constraint by using a control Lyapunov function II
| Authors: | Kidane Nami, Nara Institute of Science and Technology, Japan
Nakamura Hisakazu, Nara Institute of Science and Technology, Japan
Yamashita Yuh, Hokkaido University, Japan
Nishitani Hirokazu, Nara Institute of Science and Technology, Japan |
|---|
| Topic: | 2.3 Non-Linear Control Systems |
|---|
| Session: | Control of Nonlinear Saturating Systems |
|---|
| Keywords: | nonlinear systems, constraints, controllers, Lyapunov methods |
|---|
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 formulaso that it can be applied in any case of k>=1. However, the generalized controller may become discontinuous if k=1 or k=infinity. 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.
