We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Backstepping Stabilization of Nonlinear Dynamical Systems under State Constraints.
- Authors
Golubev, A. E.
- Abstract
The problem of stabilizing the zero value of the state vector of constrained nonlinear dynamical systems written in a special form is solved. The proposed control design accounts for magnitude constraints on the values of state variables and is based on the integrator backstepping approach using logarithmic Lyapunov barrier functions. The obtained stabilizing feedbacks, in contrast to similar known results, are based on the use of linear virtual stabilizing functions that do not grow unboundedly as the state variables approach boundary values. As an example, we consider a state constraints aware solution of the control problem of positioning an autonomous underwater vehicle at a given point in space.
- Subjects
BACKSTEPPING control method; AUTONOMOUS underwater vehicles; LYAPUNOV functions; INTERNAL auditing
- Publication
Differential Equations, 2024, Vol 60, Issue 5, p630
- ISSN
0012-2661
- Publication type
Article
- DOI
10.1134/S0012266124050070