New Controller Design Method for Nonlinear Systems with Input Constraints
A new study available on arXiv introduces a comprehensive controller design strategy aimed at stabilizing nonlinear systems with norm-bounded input limitations. By building upon the Lin-Sontag universal formula and adding a state-dependent scaling factor, this method facilitates the creation of alternative universal formulas that possess various advantageous characteristics. It provides flexibility for different control situations and allows for customized designs that cater to specific needs. Furthermore, a constructive approach identifies the ideal scaling term, yielding a clear solution to an optimization challenge known as the optimization-based universal formula. This controller guarantees asymptotic stability, adheres to input constraints, and optimizes a specified cost function. The paper is referenced as arXiv:2403.03030v2 and was announced as a replacement cross on the arXiv preprint server.
Key facts
- The paper revisits a classical challenge in stabilizing controller design for nonlinear systems with norm-bounded input constraints.
- It extends the Lin-Sontag universal formula by introducing a generic state-dependent scaling term.
- The method enables derivation of alternative universal formulas with favorable properties.
- It provides versatility for tailored control designs across different scenarios.
- A constructive approach determines the optimal scaling term.
- This leads to an explicit solution to an optimization problem, named the optimization-based universal formula.
- The resulting controller ensures asymptotic stability and satisfies the input constraint.
- The paper is available on arXiv with the identifier arXiv:2403.03030v2.
Entities
Institutions
- arXiv