Trajectory Tracking of Nonlinear Systems with Convex Input Constraints Based on Tracking Control Lyapunov Functions

Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constraints based on tracking control Lyapunov functions...

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Bibliographic Details
Published in:Applied sciences 2024-06, Vol.14 (11), p.4377
Main Author: Satoh, Yasuyuki
Format: Article
Language:English
Subjects:
Control systems
Control theory
Controllers
Convex analysis
convex optimization
Design techniques
input constraints
nonlinear control
nonlinear systems
Numerical analysis
Robotics
Simulation
tracking control Lyapunov function (TCLF)
trajectory tracking
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Summary:Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constraints based on tracking control Lyapunov functions (TCLFs). To deal with general convex input constraints, we first solve a convex optimization problem that minimizes the time derivative of TCLFs subject to convex input constraints; we refer to its optimal solution as minimizing input. Then, the proposed trajectory tracking is constructed by using the minimizing input and an appropriate scaling function. We prove that the proposed controller locally achieves trajectory tracking and satisfies the given convex input constraints. Finally, we demonstrate the effectiveness of the proposed controller by numerical simulations of a wheeled mobile robot.
ISSN:2076-3417
2076-3417
DOI:10.3390/app14114377