Stability of switched seesaw systems with application to the stabilization of underactuated vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2005

Autores

Pedro P Aguiar (Autor) Outra; Joao P Hespanha (Autor) Outra; Antonio M Pascoal (Autor) Outra

Ata de Conferência Internacional

Título: IEEE Conference on Decision and Control

Páginas: 4584-4589

44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC)

Seville, SPAIN, DEC 12-15, 2005

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 4 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-000-6ZE

DOI: 10.1109/cdc.2005.1582885

Abstract (EN): This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using hybrid control. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). These results lead to a control design methodology called switched seesaw control design that allows for the development of nonlinear control laws yielding input-to-state stability, using switching. The range of applicability and the efficacy of the methodology proposed are illustrated via two non-trivial 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6