Asymptotically Stabilization of Nonlinear Systems subject to Output Constraints via System Revival Transformation and Multilayer Minimum Projection Method
In this paper, we propose an algorithm for semi-global stabilization problem subject to output constraints. To address the problem, "system revival transformation" and "multilayer minimum projection method" are combined. The system revival transformation redesigns a control law restricted to a simple output constraint such as a circle. Further, the multilayer minimum projection method makes a semi-global control Lyapunov function from finitely many manifolds with simple output constraint. As a example, the algorithm is applied to a two-wheeled mobile on a restricted field. The effectiveness of the proposed method is confirmed by computer simulation.
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