Constrained control Lyapunov function-based control of nonlinear systems

In this paper, we present an algorithm to address the problem of guaranteed stabilization of nonlinear systems from the largest set of initial conditions from where stabilization is possible, the so-called null controllable region (NCR), while also handling state constraints and partial unboundedness of the NCR. The controller uses the geometry of the NCR to inform a constrained control Lyapunov function which in turn provides feasibility and …