A trajectory-based method for constructing null controllable regions

DOI10.1002/RNC.4805MaRDI QIDQ5219415zbMATH OpenOpenAlexFDO

Authors Tyler Homer, Maaz Mahmood, Prashant Mhaskar

Publication date 11 March 2020

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.4805

zbMATH Keywords

control Lyapunov functionnonlinear systemsnull controllable regionoptimal controlreachable sets

Mathematics Subject Classification ID

Attainable sets, reachability (93B03) Controllability (93B05) Nonlinear systems in control theory (93C10)

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(5)

• On the construction of safe controllable regions for affine systems with applications to robotics
• Novel model reference adaptive control laws for improved transient dynamics and guaranteed saturation constraints
• A new approach for estimating controllable and recoverable regions for systems with state and control constraints
• Controllability minimum principle based construction of the null controllable region for nonlinear systems
• A hybrid control design for stabilisation of nonlinear systems from the null controllable region*

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