Controller for a nonlinear system with an input constraint by using a control Lyapunov function I
| Authors: | Kidane Nami, Nara Institute of Science and Technology, Japan
Nakamura Hisakazu, Nara Institute of Science and Technology, Japan
Yamashita Yuh, Hokkaido University, Japan
Nishitani Hirokazu, Nara Institute of Science and Technology, Japan |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Control of Nonlinear Saturating Systems |
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| Keywords: | nonlinear systems, constraints, controllers, Lyapunov methods |
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Abstract
In this paper, we generalize the Malisoff's controller for a nonlinear system with an input constraint.Malisoff and Sontag proposed a universal control formula for a nonlinear system such that the $k$-norm of inputs is less than one. However, $k$ is limited to $1<k\le2$. We improve the Malisoff's formulaso that it can be applied in any case of $k\ge1$. We also confirm the effectiveness of the improved controller by computer simulation.
