Control of Constrained Nonlinear Systems

Though significant progress has been made in the field of control theory, its practical application is sometimes hindered by the failure to account for physical constraints.  Constraints dominate the majority of real-time control challenges. In daily life, there are lots of uncertain dynamic systems where constraints appear in different forms, such as performance, saturation, physical stoppages, and safety specifications. For such systems, while designing the controller in real time, the constraints are ineludible. 

To design a controller for such systems, we use tools like Control Barrier Function (CBF), Prescribed Performance Control and Barrier Lyapunov Function (BLF). Further, to deal with the unknown dynamics of the systems, we work on approximation-free techniques. Following are the few important results.