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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...
A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions (CLFs). Classically, a CLF enforces that the resulting closed-loop state trajectory is contained within a cone with a fixed, predefined shape, and which is centered at and converges to a desired converging point. However, such a requirement often proves to be overconservative. In this...
The purpose of this paper is to address the important question of when an uncertain system with higher-order nonlinearities can be effectively controlled by linear state feedback. In particular, for a family of uncertain nonlinear systems whose linearization is usually uncontrollable or, even worse, has uncontrollable modes associated with eigenvalues on the right-half plane, there is no linear or...
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