Results 1 to 10 of about 237,894 (262)
Distributed safe formation tracking control of multiquadcopter systems using barrier Lyapunov function [PDF]
Frontiers in Robotics and AICoordinating the movements of a robotic fleet using consensus-based techniques is an important problem in achieving the desired goal of a specific task.
Nargess Sadeghzadeh-Nokhodberiz +3 more
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IEEE Access, 2022 This paper proposed a finite-time prescribed performance control scheme for underactuated autonomous underwater vehicles (AUVs) based on adaptive neural networks and a tan-type barrier Lyapunov function.
Haitao Liu, Bingxin Meng, Xuehong Tian
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Adaptive Auto-Berthing Control of Underactuated Vessel Based on Barrier Lyapunov Function
Journal of Marine Science and Engineering, 2022 This paper investigates the automatic berthing problem of underactuated surface vessels in the case of uncertain dynamics and yaw rate limitation, given the importance of yaw rate control and the unmeasurable hydrodynamic parameters of the vessel at low ...
Yang Liu +3 more
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Multi-Agent System Based Cooperative Control for Speed Convergence of Virtually Coupled Train Formation [PDF]
SensorsThis paper investigates the problem of spacing control between adjacent trains in train formation and proposes a distributed train-formation speed-convergence cooperative-control algorithm based on barrier Lyapunov function.
Chuanzhen Liu, Zhongwei Xu
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Adaptive fuzzy command filtered control for uncertain fractional order nonlinear systems with full state constraints [PDF]
Scientific ReportsThis paper investigates the tracking control problem for fractional-order (FO) nonlinear systems with model uncertainties and external disturbances under full-state constraints.
Ruixia Liu +3 more
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Converse Barrier Functions via Lyapunov Functions [PDF]
IEEE Transactions on Automatic Control, 2022 We prove a robust converse barrier function theorem via the converse Lyapunov theory. While the use of a Lyapunov function as a barrier function is straightforward, the existence of a converse Lyapunov function as a barrier function for a given safety set is not. We establish this link by a robustness argument.
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Mathematics, 2021 This paper presents an adaptive constraint control approach for Electronic Throttle Control System (ETCS) with asymmetric throttle angle constraints. The adaptive constraint control method, which is based on barrier Lyapunov function (BLF), is designed ...
Dapeng Wang +3 more
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IEEE Access, 2023 The problem of formation tracking control for a group of quadcopters with nonlinear dynamics using Barrier Lyapunov Functions (BLFs) is studied in this paper where the quadcopters are following a desired predefined trajectory in a predefined formation ...
Nargess Sadeghzadeh-Nokhodberiz +1 more
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Stabilization with guaranteed safety using Control Lyapunov–Barrier Function [PDF]
Automatica, 2016 zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Romdlony, Muhammad Zakiyullah +1 more
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Stabilization of Nonlinear Control-Affine Systems With Multiple State Constraints
IEEE Access, 2020 This paper considers the synthesis of stabilizing controllers for nonlinear control-affine systems under multiple state constraints. A new control Lyapunov-barrier function approach is introduced for solving the considered problem.
Jia-Yao Jhang +2 more
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