Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7151649 | Systems & Control Letters | 2017 | 7 Pages |
Abstract
In this paper, we present an algorithm to address the problem of guaranteed stabilization of nonlinear systems from the largest set of initial conditions from where stabilization is possible, the so-called null controllable region (NCR), while also handling state constraints and partial unboundedness of the NCR. The controller uses the geometry of the NCR to inform a constrained control Lyapunov function which in turn provides feasibility and stability guarantees. The NCR is produced from a novel iterative growth algorithm that exploits a certain invariance property. The new controller implementation is illustrated using a chemical reactor system and compared to a conventional nonlinear model predictive control (MPC) implementation.
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Tyler Homer, Prashant Mhaskar,