Barrier Lyapunov Functions for the control of output-constrained nonlinear systems

@article{Tee2009BarrierLF,
  title={Barrier Lyapunov Functions for the control of output-constrained nonlinear systems},
  author={K. Tee and S. Ge and F. Tay},
  journal={Autom.},
  year={2009},
  volume={45},
  pages={918-927}
}
In this paper, we present control designs for single-input single-output (SISO) nonlinear systems in strict feedback form with an output constraint. To prevent constraint violation, we employ a Barrier Lyapunov Function, which grows to infinity when its arguments approach some limits. By ensuring boundedness of the Barrier Lyapunov Function in the closed loop, we ensure that those limits are not transgressed. Besides the nominal case where full knowledge of the plant is available, we also… Expand
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