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Robust Multitask Formation Control via Parametric Lyapunov-Like Barrier Functions
IEEE Transactions on Automatic Control, 2019An essential problem in the coordination of multiple agents is formation control. Significant challenges to the theoretical design may arise when the multiagent system is subject to uncertainty. This paper considers the robust multitask formation control problem for multiple agents, whose communication and measurements are disturbed by uncertain ...
Dongkun Han, Dimitra Panagou
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Barrier Lyapunov Functions and Constrained Model Reference Adaptive Control
IEEE Control Systems Letters, 2018In classical model reference adaptive control, the closed-loop system’s ability to track a given reference signal can be tuned by choosing the adaptive rates and parameterizing the solution of an algebraic Lyapunov equation that appears in the adaptive law. The projection operator can be employed to impose user-defined constraints on the adaptive gains.
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Backstepping approach for controlling a quadrotor using Barrier Lyapunov Functions
2017 36th Chinese Control Conference (CCC), 2017The dynamics of a quadrotor has the characteristics of underactuation, strong coupling, and nonlinearities, which makes the controller design difficult. Aimed at stabilizing the attitude of a quadrotor, in this paper, we establish the dynamics of the quadrotor.
Yihao Wei +3 more
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IEEE Transactions on Neural Networks and Learning Systems, 2020
The aim of this article is to investigate the trajectory tracking problem of systems with uncertain models and state restrictions using differential neural networks (DNNs).
R. Fuentes-Aguilar, I. Chairez
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The aim of this article is to investigate the trajectory tracking problem of systems with uncertain models and state restrictions using differential neural networks (DNNs).
R. Fuentes-Aguilar, I. Chairez
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, 2020
This paper studies the cooperative formation control problem of multiple surface vessels based on the barrier Lyapunov function and self-structuring neural networks with uncertainties and unknown disturbances. To constrain and prevent a consistency error
Haitao Liu, Guan‐Wei Chen, X. Tian
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This paper studies the cooperative formation control problem of multiple surface vessels based on the barrier Lyapunov function and self-structuring neural networks with uncertainties and unknown disturbances. To constrain and prevent a consistency error
Haitao Liu, Guan‐Wei Chen, X. Tian
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Stochastic Lyapunov-Barrier Functions for Robust Probabilistic Reach-Avoid-Stay Specifications
IEEE Transactions on Automatic ControlzbMATH Open Web Interface contents unavailable due to conflicting licenses.
Yiming Meng, Jun Liu
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Barrier Lyapunov function-based adaptive control for hypersonic flight vehicles
Nonlinear Dynamics, 2017zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Hao An, Hongwei Xia, Changhong Wang
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Adaptive Position Tracking with Hard Constraints—Barrier Lyapunov Functions Approach
2016A servo control with unknown system parameters and constraints imposed on the maximal tracking error is considered. The barrier Lyapunov functions approach is applied to assure the preservation of constraints in any condition. The system’s performance is examined for three methods of controller design based on: quadratic Lyapunov functions; on barrier ...
Jacek Kabziński +2 more
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Integral Barrier Lyapunov function-based adaptive control for switched nonlinear systems
Science China Information Sciences, 2020Lei Liu +4 more
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Zone Barrier Lyapunov Functions for State Constrained Systems
IEEE Transactions on Instrumentation and Measurement, 2023Xiaoling Liang, Shuzhi Sam Ge
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