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Design of global smooth implicit control Lyapunov function for multiple-integrator system with input constraint
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| Title: | Design of global smooth implicit control Lyapunov function for multiple-integrator system with input constraint |
| Authors: | Yamashita, Yuh Browse this author →KAKEN DB | | Adachi, Naoto Browse this author | | Nonaka, Ryo Browse this author | | Kobayashi, Koichi Browse this author →KAKEN DB |
| Keywords: | Input constraint | | Control Lyapunov function | | Implicit Lyapunov function | | Backstepping |
| Issue Date: | Nov-2020 |
| Publisher: | Elsevier |
| Journal Title: | Systems and control letters |
| Volume: | 145 |
| Start Page: | 104776 |
| Publisher DOI: | 10.1016/j.sysconle.2020.104776 |
| Abstract: | In this study, we propose a new method to design a smooth implicit control Lyapunov function and a smooth control law for a multi-integrator system with an input constraint. The proposed controller is almost linear near the origin, and it tends to a homogeneous controller of the previous implicit Lyapunov function methods as the state goes to infinity. The proposed method can be used for the backstepping method with a restricted virtual input, which is a nonlinear function of the state, and the desired virtual input is designed as a bounded function. Furthermore, we apply our method to the control of a magnetic levitation system, and a simulation result presents the advantage of the proposed method. (C) 2020 The Authors. Published by Elsevier B.V. |
| Rights: | https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| Type: | article |
| URI: | http://hdl.handle.net/2115/79961 |
| Appears in Collections: | 情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)
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