open access

https://hdl.handle.net/2115/79961

Design of global smooth implicit control Lyapunov function for multiple-integrator system with input constraint

英語

Backstepping

2020-11

Elsevier

Systems and control letters

145

104776

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.

学術雑誌論文

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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

0167-6911

AA10625747