Switched seesaw control for the stabilization of underactuated vehicles

• Tipo: Artigo em Revista Científica Internacional
• Data: 2007

Autores

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

Revista

Título: Automatica

Vol. 43 Nº 11

Páginas: 1997-2008

ISSN: 0005-1098

Editora: Elsevier

Indexação

ISI Web of Knowledge - 36 Citações

Scopus - 41 Citações

Classificação Científica

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

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12