kth.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws
Pacific Northwest Natl Lab, Richland, WA 99354 USA..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0001-7309-8086
2022 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 67, no 9, p. 4924-4931Article in journal (Refereed) Published
Abstract [en]

A novel method is proposed to ensure stability and constraint satisfaction, i.e., "compatibility," for nonlinear affine systems. We require an asymptotically stabilizing control law and a zeroing control barrier function, and define a region of attraction for which the proposed control safely stabilizes the system. Our methodology requires checking conditions of the system dynamics over the state space, which may be computationally expensive. To facilitate the search for compatibility, we extend the results to a class of nonlinear systems, including mechanical systems, for which a novel controller is designed to guarantee passivity, safety, and stability. The proposed technique is demonstrated using numerical examples.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2022. Vol. 67, no 9, p. 4924-4931
Keywords [en]
Safety, Asymptotic stability, Stability analysis, Numerical stability, Nonlinear systems, Mechanical systems, Lyapunov methods, autonomous systems, collision avoidance, nonlinear control systems, robot control
National Category
Control Engineering Subatomic Physics Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-318245DOI: 10.1109/TAC.2022.3168240ISI: 000848246200052Scopus ID: 2-s2.0-85128631065OAI: oai:DiVA.org:kth-318245DiVA, id: diva2:1696816
Note

QC 20220919

Available from: 2022-09-19 Created: 2022-09-19 Last updated: 2022-09-19Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Dimarogonas, Dimos V.

Search in DiVA

By author/editor
Dimarogonas, Dimos V.
By organisation
Decision and Control Systems (Automatic Control)
In the same journal
IEEE Transactions on Automatic Control
Control EngineeringSubatomic PhysicsVehicle Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 30 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf