The impact of the selected Lyapunov function on the performance of a nonlinear system designed by adaptive backstepping is considered. Special attention is paid to the comparison of various Barrier Lyapunov Functions, which assure preservation of hard state constraints during any transient. The differences in the system operation are discussed and some recommendations the Lyapunov function selection are given.
['Jacek Kabzinski', 'Marcin Jastrzebski', 'Przemyslaw Mosiolek']
Comparison of various barrier lyapynov functions for adaptive control of nonlinear systems