On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws
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
2022-09-192022-09-192022-09-19Bibliographically approved