Utilizing null controllable regions to stabilize input-constrained nonlinear systems

In this paper, we present a method for control of input-constrained nonlinear systems that offers guaranteed stabilization from the entire null controllable region (NCR). The controller achieves stabilization by using a constrained control Lyapunov function (CCLF) based on this NCR. Prior to online implementation, the level sets the CCLF are constructed using an iterative algorithm. The algorithm works by using an invariance principle to expand …