Optimal Control Method for Robot-Tracking Based on Control-Lyapunov-Function

Optimal Control Method for Robot-Tracking Based on Control-Lyapunov-Function

A control Lyapunov function (CLF)-based optimal control method is proposed to solve an affine nonlinear system with input limitation for the wheeled robot. Motivated by Lyapunov stability theory, viability theory, and exact linearization and sliding mode control, the construction of the CLF uses the...

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Bibliographic Details
Main Authors: Yuepeng Wu, Lei Liu, Ye Yang, Shuguang Dai
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Control Lyapunov function
control nonlinearities
control design
Online Access:https://ieeexplore.ieee.org/document/8740983/

Internet

https://ieeexplore.ieee.org/document/8740983/

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