Results 181 to 190 of about 237,894 (262)

Uniting Control Lyapunov and Control Barrier Functions

53rd IEEE Conference on Decision and Control, 2014
In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The design is based on the merging of a Control Lyapunov Function and a Control Barrier Function. The proposed control method allows us to combine the design of a stabilizer based on CLF and the design of safety control based on CBF ...
Romdlony, Zakiyullah, Jayawardhana, Bayu
openaire   +1 more source

Barrier Lyapunov function-based adaptive prescribed performance control of the PMSM used in robots with full-state and input constraints

Journal of Vibration and Control, 2022
The permanent magnet synchronous motor is extensively used in robots due to its superior performances. However, robots mostly operate in unstructured and dynamically changing environments.
Yankui Song, Yu Xia, Jia-xu Wang, Junyang Li, Cheng Wang, Y. Han, K. Xiao   +6 more
semanticscholar   +1 more source

Bounded Voltage Regulation in a Direct Current Microgrid Using Barrier Lyapunov Function With Uncertain Load Current

IEEE Control Systems Letters, 2023
A distributed control methodology for steady-state voltage regulation, along with a bounded transient response in a Direct Current (DC) microgrid, is proposed in this letter.
S. Singh, V. Vaishnav, Anoop Jain, Dushyant Sharma   +3 more
semanticscholar   +1 more source

Barrier Lyapunov function and adaptive backstepping-based control of a quadrotor UAV

Robotica (Cambridge. Print), 2023
This paper presents backstepping control and backstepping constraint control approaches for a quadrotor unmanned aerial vehicle (UAV) control system. The proposed methods are applied to a Parrot Mambo drone model to control rotational motion along the ...
Adel Khadhraoui, A. Zouaoui, M. Saad
semanticscholar   +1 more source

Operational Safety Via Control Lyapunov-Barrier Function-Based MPC

2021
As discussed in the previous chapter, maintaining a safe and stable operation is the highest priority of the control systems in many safety-critical processes in chemical industries. Based on the MPC/EMPC schemes that optimize process/system performance (e.g., process economics and energy consumption) while maintaining the closed-loop state trajectory ...
Zhe Wu, Panagiotis D. Christofides
openaire   +1 more source

Barrier Lyapunov function-based fuzzy adaptive iterative learning control

The 27th Chinese Control and Decision Conference (2015 CCDC), 2015
In this paper, the problem of error-constrained adaptive iterative learning control is presented for a class of nonlinear systems which performs a given task over a finite time interval repeatedly, where the fuzzy system is used to approximate the unknown nonlinearity.
Lejian Chen, Mingxuan Sun
openaire   +1 more source

Barrier Lyapunov Function Based Learning Control of Hypersonic Flight Vehicle With AOA Constraint and Actuator Faults

IEEE Transactions on Cybernetics, 2019
This paper investigates a fault-tolerant control of the hypersonic flight vehicle using back-stepping and composite learning. With consideration of angle of attack (AOA) constraint caused by scramjet, the control laws are designed based on barrier ...
B. Xu, Zhong-ke Shi, F. Sun, Wei He
semanticscholar   +1 more source

Barrier Lyapunov function based fixed-time control for automatic carrier landing with disturbances

Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2022
This paper studies the automatic carrier landing controller design problem with output constraint and fixed-time convergence requirements. The proposed flight controller is separated into guidance, attitude control, and approach power compensation system.
Dapeng Zhou, Zewei Zheng, Zhiyuan Guan, Yunpeng Ma, Lin Ma   +4 more
semanticscholar   +1 more source

Barrier Lyapunov Function-Based Fuzzy Adaptive Admittance Control of an Upper Limb Exoskeleton Using RBFNN Compensation

IEEE/ASME transactions on mechatronics
The application of an exoskeleton can reduce the physical effort of wearer in many repetitive industrial tasks. However, the variation of human-robot-environment interaction properties and the uncertainties of dynamic modeling increase the difficulty in ...
Qing Wu, Zhijie Wang, Ying Chen, Hongtao Wu   +3 more
semanticscholar   +1 more source

Integral Barrier Lyapunov Function-Based Adaptive Event-Triggered Control of Flexible Riser Systems

IEEE Transactions on Automation Science and Engineering
This paper presents an adaptive boundary control design for flexible riser systems with external disturbances and boundary position constraint. An integral barrier Lyapunov function (iBLF) is used to solve the boundary position constraint problem.
Xin-Yu Zhang, Xiang-peng Xie, Yanjun Liu, Jiayue Sun   +3 more
semanticscholar   +1 more source