Title :
Output-feedback shared-control for fully actuated linear mechanical systems
Author :
Jingjing Jiang ; Astolfi, A.
Author_Institution :
Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK
Abstract :
This paper presents an output feedback shared-control algorithm for fully-actuated, linear, mechanical systems. The feasible configurations of the system are described by a group of linear inequalities which characterize a convex admissible set. The properties of the shared-control algorithm are established with a Lyapunov-like analysis. Simple numerical examples demonstrate the effectiveness of the strategy.
Keywords :
Lyapunov methods; actuators; feedback; linear matrix inequalities; linear systems; mechanical engineering; Lyapunov-like analysis; convex admissible set; fully-actuated linear mechanical systems; linear inequalities; output feedback shared-control algorithm; system configurations; Algorithm design and analysis; Collision avoidance; Equations; Mathematical model; Mechanical systems; Silicon; Trajectory; Emerging control theory; Nonlinear systems; Output feedback;
Conference_Titel :
American Control Conference (ACC), 2014
Conference_Location :
Portland, OR
Print_ISBN :
978-1-4799-3272-6
DOI :
10.1109/ACC.2014.6859061
