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Switched seesaw control for the stabilization of underactuated vehicles

Title
Switched seesaw control for the stabilization of underactuated vehicles
Type
Article in International Scientific Journal
Year
2007
Authors
Joao P Hespanha
(Author)
Other
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Antonio M Pascoal
(Author)
Other
The person does not belong to the institution. The person does not belong to the institution. The person does not belong to the institution. Without AUTHENTICUS Without ORCID
Journal
Title: AutomaticaImported from Authenticus Search for Journal Publications
Vol. 43 No. 11
Pages: 1997-2008
ISSN: 0005-1098
Publisher: Elsevier
Scientific classification
FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering
Other information
Authenticus ID: P-004-5VE
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
Contact: pedro@isr.ist.utl.pt; hespanha@ece.ucsb.edu; antonio@isr.ist.utl.pt
No. of pages: 12
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