NDLI: Diffeomorphism-based control of nonlinear systems subject to state constraints with actual applications

Content Provider	IEEE Xplore Digital Library
Author	Acosta, J.A. Doria-Cerezo, A. Fossas, E.
Copyright Year	2014
Description	Author affiliation: Depto. de Ing. de Sist. y Autom., Escuela Tec. Super. de Ing., Sevilla, Spain (Acosta, J.A.) \|\| Dept. Electr. Eng., Univ. Politec. de Catalunya, Barcelona, Spain (Doria-Cerezo, A.; Fossas, E.)
Abstract	This paper briefly collect the results of a more general approach of control of nonlinear systems with state-&-input constraints, recently proposed by some of the authors in [1]. In that work we provide some insights and tools for the constrained state control problem with Barrier Lyapunov Functions. Here we provide a different and constructive outlook which allows to transform the constrained-state control problem into a Lyapunov-based control design on an unconstrained dynamics. Moreover, it is shown that the problem can also be solved for non-structured nonlinear systems. Surprisingly only some foundations of differential geometry and two extra assumptions were needed to construct a tool based on the well-established theories of control Lyapunov functions and Sontag's universal formula. Simple examples and a real application of dynamic positioning for ships with nonlinear position constraints are provided. The latter has been tested in a real scenario with a realistic simulator owned by shipbuilding company [2]. Some results are shown in a companion work [9].
Starting Page	923
Ending Page	928
File Size	428572
Page Count	6
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Lyapunov methods Nonlinear systems Marine vehicles Vectors Control design Benchmark testing Transforms
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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