摘要：AbstractThis paper proposes a nonlinear state-constrained control design technique for a class of nonlinear systems. The closed-form expression of the state feedback control law is derived using barrier Lyapunov function. The derived controller ensures the asymptotic stability of the closed-loop system without violation of imposed state constraints. It is shown that the closed-loop states, under the proposed control law, never transgress the imposed constraints even under bounded disturbance functions. It is also pointed out that classical dynamic inversion based control is a special case of the proposed control scheme. The effectiveness of the derived controller is illustrated through a numerical example.
关键词：KeywordsDynamic InversionNonlinear ControlState-constrained Control
