4 papers
State Feedback Controllers with Operational Constraints
Eugene Lavretsky
In this paper, a state feedback control design with min/max operational limiting constraints is developed for multi-input-multi-output linear time invariant systems. Specifically,…
Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
Max H. Cohen, Eugene Lavretsky, Aaron D. Ames
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject t…
Servo-Controllers with Operational Constraints
Eugene Lavretsky
In this paper, a proportional-integral servo-control design method is developed for multi-input-multioutput linear time invariant systems with operational constraints imposed on th…
Integrator Anti-Windup Design for Servo-Controllers with Position Constraints
Eugene Lavretsky
A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions…