DocumentCode
184354
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
fYear
2014
fDate
4-6 June 2014
Firstpage
335
Lastpage
340
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2014
Conference_Location
Portland, OR
ISSN
0743-1619
Print_ISBN
978-1-4799-3272-6
Type
conf
DOI
10.1109/ACC.2014.6859061
Filename
6859061
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