Stabilization of State Feedback Linearizable Dynamical Systems under State Constraints

Golubev, A.E.

Автор: Golubev A.E.
Журнал: Differential Equations
Том: 61
Номер: 12
Год издания: 2025
Издательство: Pleiades Publishing, Inc.
Местоположение издательства: New York, USA
Первая страница: 1932
Последняя страница: 1942
Оригинальные версии: Стабилизация линеаризуемых обратной связью динамических систем с учетом ограничений на состояния
DOI: 10.1134/S0012266125120079
Аннотация: The problem of stabilizing the origin is solved for dynamical systems written ina form that admits state feedback linearization, taking into account the magnitude constraintson the state variable values. Based on known results on the possibility of obtaining identicalcontrol laws when using the integrator backstepping and the state feedback linearization methodsto design stabilizing feedbacks, sufficient conditions are proposed for the gain coefficients androots of the characteristic polynomial of the closed-loop system that ensure the validity of thespecified constraints. The resulting conditions guaranteeing that the constraints hold are basedon the results obtained using the integrator backstepping method combined with logarithmicbarrier Lyapunov functions. As an example, a solution of the problem of controlling a generalized coordinate is considered for a mechanical system whose dynamics with respect to the selected generalized variable can be represented as a chain of fourth-order integrators, taking into account the constraints on the values of the generalized coordinate, velocity, acceleration, and jerk.
Добавил в систему: Голубев Алексей Евгеньевич

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