A hybrid control design for stabilisation of nonlinear systems from the null controllable region*. Issue 4 (3rd April 2023)

• Record Type: Journal Article
• Authors: Mahmood, Maaz; Homer, Tyler; Mhaskar, Prashant
• Is Part Of: International journal of control. Volume 96:Issue 4(2023)
• Page Start: 1026
• Page End: 1038
• Publication Date: 2023-04-03
• Subjects: Nonlinear systems -- null controllable region -- input constraints -- constrained control Lyapunov function; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2021.2024604
• Languages: English
• ISSNs: 0020-7179

Abstract

Abstract : The present paper addresses the problem of designing a controller to enable stabilisation from the entire null controllable region (NCR) – the set of states from where stabilisation is possible). A recently developed approach for the numerical construction of the NCR is utilised, and first, the validity of the use of the NCR as a constrained control Lyapunov function (CCLF) is established. The analysis reveals the ability of a CCLF-based control design to drive the system to an equilibrium manifold. The CCLF-based control design is then utilised within a hybrid control framework that guarantees the ability to stabilise to the origin. Simulation results are used to illustrate the implementation of the control design.