Work

Low-complexity nonlinear constrained control with Explicit Reference Governors and sub-control Lyapunov functions

Year: 2026

Type: article

Abstract: Numerically synthesized control Lyapunov functions (CLFs) have attracted considerable attention due to their general applicability and the potential to reduce the online computational cost. A key limitation, however, is that these stability certificates are typically tailored to a specific setpoint, and thus do not readily account for transient behaviors or state constraints. In this work, we combine a class of numerically constructed CLFs, referred to as sub-CLFs, with the Explicit Reference Governor (ERG) to develop a computationally efficient control strategy that can enforce safety constraints while tracking reference commands. The approach is illustrated through numerical tests on lane-keeping for car-like dynamics and obstacle-avoidance navigation for an aerial vehicle model.

Source: Systems & Control Letters

DOI: 10.1016/j.sysconle.2026.106384

Authors: Huu-Thinh Do, Ilya Kolmanovsky

Institution: University of Michigan

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $2,910

Funders: National Science Foundation, Air Force Office of Scientific Research