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

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. • Integrates numerical Control Lyapunov Functions with Explicit Reference Governors. • Establishes reference-dependent invariant level sets for the parameterized CLF. • Demonstrates on lane-keeping and obstacle-avoidance problems.