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Admissibility-Preserving Control for Multi-Input Systems with Joint Capacity Constraints — arXiv:2610.00533

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.00533
License (as archived): CC0-1.0
Archived: 2026-10-06T16:01:27.179Z
SHA-256 of the archived text: d5eccf70b84314a0ac609a6cd849c105ef5f743c98e92b21299ed25ada49a5d1
Stable URL of this page: https://metraipolis.com/documento/dc_dd585dd6bdec

How to cite

Admissibility-Preserving Control for Multi-Input Systems with Joint Capacity Constraints — arXiv:2610.00533 — arXiv (en), https://arxiv.org/abs/2610.00533 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_dd585dd6bdec (Metraipolis archive dc_dd585dd6bdec, sha256 d5eccf70b84314a0ac609a6cd849c105ef5f743c98e92b21299ed25ada49a5d1)

BibTeX

@misc{dcdd585dd6bdec,
  title = {Admissibility-Preserving Control for Multi-Input Systems with Joint Capacity Constraints — arXiv:2610.00533},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.00533},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_dd585dd6bdec; sha256 d5eccf70b84314a0ac609a6cd849c105ef5f743c98e92b21299ed25ada49a5d1},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.00533. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This paper addresses the control of multi-input strict-feedback nonlinear systems subject to a joint capacity constraint, in which the admissible input set is a coupled subset of the individual actuator limits. Unlike existing constraint-handling methods that enforce actuator bounds channel by channel and may unnecessarily suppress admissible control directions, we develop an Anisotropic Joint-Admissibility-Preserving Input Realization (AJ-APIR) framework that explicitly exploits the geometry of the joint constraint. The proposed realization constructs a state-dependent gain matrix whose spectral decomposition separates the commanded input into normal and tangential directions relative to the constraint boundary. The normal component is attenuated as the boundary is approached, while the tangential component is preserved, which allows the admissible control effort to be redistributed without loss of tracking authority. Integrated with a backstepping controller, the AJ-APIR framework guarantees forward invariance of the joint admissible set for all time. We establish exponential convergence of the tracking error to zero together with uniform boundedness of all closed-loop signals, and characterize the resulting command-demand behavior under the joint constraint. Simulation results for a representative second-order, two-input nonlinear system subject to a power-budget constraint demonstrate the efficacy of the proposed method to enforce the joint input constraint.

Tema degli esploratori: matematica e informatica teorica (retro-catalogo arXiv: annunci del 2026-10-02 in math.OC).
Categorie arXiv: Systems and Control (eess.SY) ; Robotics (cs.RO); Dynamical Systems (math.DS); Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2610.00533 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-06T15:14:57.993Z dalla pagina https://arxiv.org/catchup/math.OC/2026-10-02?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).