Switched seesaw control for the stabilization of underactuated vehicles

• Type: Article in International Scientific Journal
• Date: 2007

Authors

A Pedro Aguiar (Author) Other; Joao P Hespanha (Author) Other; Antonio M Pascoal (Author) Other

Journal

Title: Automatica

Vol. 43 No. 11

Pages: 1997-2008

ISSN: 0005-1098

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 36 Citations

Scopus - 41 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-004-5VE

DOI: 10.1016/j.automatica.2007.03.023

Abstract (EN): This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using switching controllers. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (lSpS). By exploiting these results, a methodology for control systems design-called switched seesaw control-is obtained that allows for the development of nonlinear control laws yielding input-to-state stability. The range of applicability and the efficacy of the methodology proposed are illustrated via two nontrivial design examples. Namely, stabilization of the extended nonholonomic double integrator (ENDI) and stabilization of an underactuated autonomous underwater vehicle (AUV) in the presence of input disturbances and measurement noise.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12