Backstepping Stabilization of Nonlinear Dynamical Systems under State Constraints
Pub Date : 2024-09-11
DOI:10.1134/s0012266124050070
引用次数: 0
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.
状态约束下非线性动态系统的反步态稳定
摘要 解决了以特殊形式编写的受约束非线性动力系统的状态矢量零值稳定问题。所提出的控制设计考虑了状态变量值的大小约束，并基于使用对数 Lyapunov 障碍函数的积分器后退方法。与已知的类似结果不同，所获得的稳定反馈是基于线性虚拟稳定函数的使用，当状态变量接近边界值时，这些函数不会无限制地增长。举例来说，我们考虑了在空间给定点定位自主水下航行器的控制问题的状态约束意识解决方案。
本文章由计算机程序翻译，如有差异，请以英文原文为准。
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