Barrier Lyapunov Function Based Output-constrained Control of Nonlinear Euler-Lagrange Systems

Sachan, K and Padhi, R (2018) Barrier Lyapunov Function Based Output-constrained Control of Nonlinear Euler-Lagrange Systems. In: 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, 18 - 21 November 2018, singapore, pp. 686-691.

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Abstract

An output-constrained nonlinear control design technique is presented in this paper for Euler-Lagrange type of systems. The controller is formulated to prevent both symmetric as well as asymmetric output constraint violations. The dynamic inversion control philosophy is used to formulate the controller. However, unlike dynamic inversion, error dependent gains are chosen in the proposed control formulation, which leads to a nonlinear closed loop error dynamics. The barrier Lyapunov function is used to prove the asymptotic stability of the closed loop error dynamics. It is shown that the system output will remain bounded by the chosen constraints and all other close loop states will also remain bounded. The effectiveness of the controller is illustrated through extensive simulation results.

Item Type:	Conference Paper
Publication:	2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the Institute of Electrical and Electronics Engineers Inc.
Keywords:	Asymptotic stability; Computer vision; Errors; Lagrange multipliers; Lyapunov functions; Robotics, Constrained controls; Constrained dynamics; Constraint violation; Dynamic inversion; Euler-Lagrange systems; Extensive simulations; Non linear control; Nonlinear control design, Controllers
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	29 Jul 2022 11:46
Last Modified:	29 Jul 2022 11:46
URI:	https://eprints.iisc.ac.in/id/eprint/75052

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