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In 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...
This paper briefly collect the results of a more general approach of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1]. In that work we provide some insights and tools for the constrained state control problem with Barrier Lyapunov Functions. Here we provide a different and constructive outlook which allows to transform the constrained-state...
The control design proposed here is based on a general framework of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1] (summary available in [2]). Thus, this is part of a series of real applications to support the theoretical results. In particular, here the result is applied to the problem of dynamic positioning of ships with nonlinear...
This paper describes the port interconnection of two subsystems: a power electronics subsystem (a back-to-back AC/AC converter (B2B), coupled to a phase of the power grid), and an electromechanical subsystem (a doubly-fed induction machine (DFIM). The B2B is a variable structure system (VSS), due to the presence of control-actuated switches; however, from a modelling and simulation, as well as a control-design,...
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