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- W2048884047 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]." @default.
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- W2048884047 date "2014-10-01" @default.
- W2048884047 modified "2023-10-16" @default.
- W2048884047 title "Diffeomorphism-based control of nonlinear systems subject to state constraints with actual applications" @default.
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- W2048884047 doi "https://doi.org/10.1109/cca.2014.6981454" @default.
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