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Title
Japanese:システム蘇生返還と多層最小射影法を用いた出力制約を有する非線形システムの安定化制御 
English:Asymptotically Stabilization of Nonlinear Systems subject to Output Constraints via System Revival Transformation and Multilayer Minimum Projection Method 
Author
Japanese: 木村 駿介, 中村 文一, 伊吹 竜也, 三平 満司.  
English: Shunsuke Kimura, Hisakazu Nakamura, Tatsuya Ibuki, Mitsuji Sampei.  
Language Japanese 
Journal/Book name
Japanese:第4回制御部門マルチシンポジウム予稿集 
English: 
Volume, Number, Page         pp. 1283-1289
Published date Mar. 6, 2017 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第4回制御部門マルチシンポジウム 
English: 
Conference site
Japanese:岡山県 
English: 
Abstract 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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