Barrier Function-Based SDRE Control for Nonlinear Systems with State Constraints
Abstract
Many real life systems operate in restricted state space. This study presents a new controller design technique for solving nonlinear regulator problems under the state dependent Riccati equation (SDRE) framework for systems with state constraints. A barrier function-based weighting matrix is designed to handle the state constraints. Stability analysis and constraint satisfaction are proved through Lyapunov analysis. The efficacy of the proposed method is demonstrated through a nonlinear benchmark problem and an application problem. The associated simulation results are also presented.
Recommended Citation
P. L. Devi et al., "Barrier Function-Based SDRE Control for Nonlinear Systems with State Constraints," Proceedings of the 2021 American Control Conference, pp. 1070 - 1075, article no. 9483195, International Federation for Automatic Control (IFAC), May 2021.
The definitive version is available at https://doi.org/10.23919/ACC50511.2021.9483195
Meeting Name
2021 American Control Conference, ACC 2021 (2021: May 25-28, Virtual)
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Barrier Function; SDRE; State Constraint
International Standard Book Number (ISBN)
978-166544197-1
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2021 International Federation for Automatic Control (IFAC), All rights reserved.
Publication Date
28 May 2021
Comments
National Aeronautics and Space Administration, Grant NNX15AM51A