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This paper proposes an almost decentralized solution to the problem of stabilizing a network of discrete-time nonlinear systems with coupled dynamics that are subject to local state/input constraints. By “almost decentralized” we mean that each local controller is allowed to use the states of neighboring systems for feedback, whereas it is not permitted to employ iterations between the systems in...
This paper presents a control for state-constrained nonlinear systems in strict feedback form to achieve output tracking. To prevent states from violating the constraints, we employ a barrier Lyapunov function, which grows to infinity whenever its arguments approaches some limits. By ensuring boundedness of the barrier Lyapunov function in the closed loop, we guarantee that the limits are not transgressed...
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